scholarly journals Development of interface for kinematic analysis of a delta-type parallel robot

2021 ◽  
pp. 18-27
Author(s):  
Martín Eduardo Rodríguez-Franco ◽  
Ricardo Jara-Ruiz ◽  
Yadira Fabiola López-Álvarez ◽  
Juan Carlos García-Rodríguez
Keyword(s):  
Kinematic Analysis ◽  
Data Entry ◽  
Implementation Process ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
End Effector ◽  
Delta Type ◽  
Kinematic Models ◽  
User Friendly ◽  
Average Position

The development and implementation process of a computer interface for the kinematic analysis of a parallel robot, in delta configuration, and its application to a previously formed prototype are exposed. Being identified the associated equations, and deduced the respective geometric parameters. On the other hand, the synthesis of the direct and inverse kinematic models, with the Matlab software, guarantees the calculation of a specific Cartesian position, in the end effector of the robot used, once certain joint values have been assigned to it, or vice versa. Finally, a user-friendly graphical interface is created, whose functions are: data entry, resolution of the models described, issuance of the corresponding results, representation of the robot used and its physical manipulation. The results obtained in the real location of the end effector with respect to the values deduced by the interface, are competitive for both models analyzed, even though the prototype used operates by means of servomotors. An average position error of 0.083 cm per axis and overall of 0.006 cm is observed during the tests developed.

Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

Motion Simulation of a Hybrid Parallel Robot for Ankle Rehabilitation

2014 ◽  
Author(s):  
Hamid Rakhodaei ◽  
Mozafar Saadat ◽  
Alireza Rastegarpanah
Keyword(s):  
Parallel Robot ◽  
Hybrid Structure ◽  
Inverse Kinematic ◽  
Motion Simulation ◽  
Stroke Patients ◽  
End Effector ◽  
Ankle Rehabilitation ◽  
Motion Paths ◽  
Experimental Values ◽  
Forward Kinematic

This paper addresses the path planning of a hybrid parallel robot for ankle rehabilitation. The robot contains 3-DOF parallel mechanism that is attached on top of the 6-DOF hexapod. The 6-UPU-3-UPR parallel robot is developed to simulate ankle motions for the rehabilitation of post-stroke patients with an affected ankle. The inverse kinematic of hybrid parallel robot is developed in order to track the end-effector’s position through Matlab software. The calculated stroke size of each actuator is imported to apply the forward kinematic for determining the position of end-effector. The experimental and simulation values of the hexapod are compared with those of the hybrid structure through a number of exercise motion paths. The results reveal that, in general, the simulation values follow well the experimental values, although with different degrees of variation for each of the structures considered.

A New 4-DOF Fully Parallel Robot With Decoupled Rotation for Five-Axis Micromachining Applications

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Oleksandr Stepanenko ◽  
Ilian A. Bonev ◽  
Dimiter Zlatanov
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Parallel Robot ◽  
Parallel Kinematic Machine ◽  
Constant Length ◽  
End Effector ◽  
Kinematic Models ◽  
Parallel Kinematic ◽  
Linear Actuators ◽  
Five Axis

We present a novel 4-DOF (degrees of freedom) parallel robot designed for five-axis micromachining applications. Two of its five telescoping legs operate simultaneously, thus acting as an extensible parallelogram linkage, and in conjunction with two other legs control the position of the tooltip. The fifth leg controls the tilt of the end-effector (a spindle), while a turntable fixed at the base of the robot controls the swivel of the workpiece. The robot is capable of tilting its end-effector up to 90 deg, for any tooltip position. In this paper, we study the mobility of the new parallel kinematic machine (PKM), describe its inverse and direct kinematic models, then study its singularities, and analyze its workspace. Finally, we propose a potential mechanical design for this PKM utilizing telescopic actuators as well as the procedure for optimizing it. In addition, we discuss the possibility of using constant-length legs and base-mounted linear actuators in order to increase the volume of the workspace.

The QuadroG Robot, a Parallel Robot With a Configurable Platform for Haptic Applications

2015 ◽  
Author(s):  
Salua Hamaza ◽  
Patrice Lambert ◽  
Marco Carricato ◽  
Just Herder
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Contact Points ◽  
Loop Chain ◽  
End Effectors ◽  
4 Degrees Of Freedom

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closed-loop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.

Modeling and Workspace Analysis of Collaborative Advanced Fiber Placement Machine

2014 ◽  
Author(s):  
Xiaoming Zhang ◽  
Wen-Fang Xie ◽  
Suong V. Hoa
Keyword(s):  
Trajectory Planning ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
Productive Efficiency ◽  
Fiber Placement ◽  
Collaborative Modeling ◽  
Workspace Analysis ◽  
Complex Shapes ◽  
Kinematic Models ◽  
Placement Machine

The Advanced Fiber Placement (AFP) machines have brought significant improvement on the manufacturing of composite. However, the current AFP machines are not capable of handling some applications with more complex shapes. This paper presents a collaborative AFP machine which consists of a 6-RSS parallel platform, a 6-DOF manipulator and a spindle mounted on the platform to hold the mandrel. The collaborative modeling is built and simulated in SimMechanics/Matlab. The inverse kinematic models are established for trajectory planning. In addition, the workspaces of both parallel robot and collaborative AFP machine are analyzed using geometrical method and programmed in Solidworks. A simulation example for the manufacturing of a hemisphere is provided. The result shows that the collaborative AFP machine could enlarge the manufacture workspace, simplify the trajectory planning and enhance the productive efficiency.

Novel 4-DOF SCARA Parallel Robot With Cylindrical Workspace

2018 ◽  
Author(s):  
Oleksandr Stepanenko ◽  
Ilian A. Bonev
Keyword(s):  
Optimal Design ◽  
Mechanism Design ◽  
Kinematic Analysis ◽  
Parallel Robot ◽  
Equal Length ◽  
The Novel ◽  
End Effector ◽  
Revolute Joints ◽  
Serial Robot

In this paper, we present a novel 4-DOF SCARA parallel robot. The 2-DOF portion of the novel robot has been proposed before and consists of an end-effector connected to the base through two legs of type RRR and one passive constraining leg of type RP, where all the base-mounted revolute joints are coaxial. Contrary to SCARA robots based on the four-bar mechanism (RRRRR), the novel robot has a fully cylindrical workspace with no voids or parallel singularities in it. The novel robot has essentially the same workspace as that of a similarly sized ceiling-mounted SCARA serial robot (RR) with links of equal length. However, the proposed robot has the advantage of having all motors mounted on the base. We present the 2-DOF portion of the robot, its kinematic analysis, and its optimal design, and finally propose a mechanism design for the 4-DOF SCARA parallel robot.

scholarly journals Kinematics and Workspace Analysis of a 3PPPS Parallel Robot With U-Shaped Base

2017 ◽  
Author(s):  
Damien Chablat ◽  
Luc Baron ◽  
Ranjan Jha
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Robot ◽  
Joint Space ◽  
Industrial Applications ◽  
End Effector ◽  
Workspace Analysis ◽  
Discriminant Variety ◽  
Number Of Cells ◽  
Selection Of

This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse kinematics for the manipulator under study. The parallel singularities associated with the manipulator depend only on the orientation of the end-effector, and thus depend only on the orientation of the end effector. The quaternion parameters are used to represent the aspects, i.e. the singularity free regions of the workspace. A cylindrical algebraic decomposition is used to characterize the workspace and joint space with a low number of cells. The discriminant variety is obtained to describe the boundaries of each cell. With these simplifications, the 3-PPPS parallel robot with proposed design can be claimed as the simplest 6 DOF robot, which further makes it useful for the industrial applications.

scholarly journals A Multidisciplinary Approach to Implement Personalized Breast Cancer Treatment and Care Plans

2021 ◽  
Vol 28 (1) ◽  
pp. 767-782
Author(s):  
Rashida Haq ◽  
Amy Kong ◽  
Pauline Gulasingam
Keyword(s):  
Breast Cancer ◽  
Primary Care Physicians ◽  
Phase 1 ◽  
Data Entry ◽  
Implementation Process ◽  
Standard Of Care ◽  
Care Team ◽  
Quality Improvement Initiative ◽  
Team Members ◽  
Care Plans

Implementation of survivorship care plans remain a challenge. This quality improvement initiative aims to integrate personalized treatment plans (PTP) and care plans (PCP) into the existing workflow for breast cancer (BC) patients. Methods: Phase 1 was to identify multidisciplinary team members to generate and deliver PTP and PCP. Concurrently, Phase 2 was to deliver PTP and PCP to newly diagnosed invasive BC patients at chemotherapy initiation and completion, respectively. Iterative plan, do, study, act (PDSA) cycles were applied to refine the process. The proportion of information completed for PTP and PCP generation and its delivery by the care team were measured. Patient and provider satisfaction were also assessed. Implementation Process and Results: The care transfer facilitator (CTF) was identified to complete and deliver PTP, and their data entry increased from 0% to 76%, 80%, 92% consecutively during the last 4 PDSA cycles. PTP and PCP were provided to 85% of eligible BC patients. Patients agreed that PTP helped them to actively participate in their care (88%) and communicate with the oncology care team (86%). Primary care physicians agreed that PTP and PCP had the information needed to “stay in the loop” (80%), and oncologists agreed they should be incorporated into oncology clinics (100%). Conclusions: Integrating PTP and PCP generation and delivery into existing workflow has led to an increase in uptake, sustainability and provider buy-in. With limited resources, it remains difficult to find care team members to complete the forms. A dedicated personnel or survivorship clinic is required to successfully implement PTP and PCP as the standard of care.

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Hamed Khakpour ◽  
Lionel Birglen ◽  
Souheil-Antoine Tahan
Keyword(s):  
Kinematic Analysis ◽  
Design Methodology ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Cable Robot ◽  
Proper Design ◽  
Two Indices ◽  
Three Degrees Of Freedom ◽  
Cable Robots

In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators.

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