Workspace analysis and parameter optimization of 6-RSS parallel mechanism

2008 ◽  
Vol 44 (01) ◽  
pp. 19 ◽  
Author(s):  
Yonggang CAO
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Workspace Analysis

Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 2136-2142 ◽  
Author(s):  
Rui Fan ◽  
Huan Liu ◽  
Dan Wang
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Search Method ◽  
Architecture Design ◽  
Original Volume ◽  
Workspace Analysis ◽  
The Relationship

A spatial 3-DOF translational parallel mechanism is analyzed. Its inverse kinematic model is established. The section view of the workspace of the parallel mechanism is presented via boundary search method under the defined constraints. Considering the workspace volume as the optimization object, the relationship between structural parameters and workspace volume is obtained and the structural parameters to be optimized are determined. Finally, the optimization configuration of the mechanism is obtained. The results show that the volume of the workspace increases 1.55 times as much as the original volume, which lay the foundation for the architecture design.

KINEMATICS AND WORKSPACE ANALYSIS OF A 3 DEGREE OF FREEDOM PARALLEL MECHANISM WITH PARALLELOGRAM LINKAGE

2017 ◽  
Vol 41 (5) ◽  
pp. 922-935
Author(s):  
HongJun San ◽  
JunSong Lei ◽  
JiuPeng Chen ◽  
ZhengMing Xiao ◽  
JunJie Zhao
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Analytical Method ◽  
Theoretical Basis ◽  
Parallel Mechanism ◽  
Graphical Method ◽  
Degree Of Freedom ◽  
Workspace Analysis ◽  
Fixed Base ◽  
Moving Platform

In this paper, a 3-DOF translational parallel mechanism with parallelogram linkage was studied. According to the space vector relation between the moving platform and the fixed base, the direct and inverse position solutions of this mechanism was deduced through analytical method. In addition, the error of the algorithm was analyzed, and the algorithm had turned out to be effective and to have the satisfactory computational precision. On the above basis, the workspace of this mechanism was found through graphical method, which was compared with that of finding through Monte Carlo method, and there was the feasibility for analyzing the workspace of the mechanism by graphical method. The characteristic of the mechanism was analyzed by comparing the results of two analysis methods, which provided a theoretical basis for the application of the mechanism.

Structural Parameter Optimization for 3-DOF Spherical Parallel Mechanism, Binocular Stereo

2012 ◽  
Vol 11 (7) ◽  
pp. 859-867 ◽  
Author(s):  
Shaorong Xie ◽  
Shuping Li ◽  
Junjie Huang ◽  
Hengyu Li ◽  
Jun Luo
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameter ◽  
Binocular Stereo ◽  
Spherical Parallel Mechanism

Kinematics and Workspace Analysis of 3-RPP Parallel Mechanism

2013 ◽  
Vol 456 ◽  
pp. 146-150
Author(s):  
Zhi Jiang Xie ◽  
Jun Zhang ◽  
Xiao Bo Liu
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Parallel Mechanisms ◽  
Vector Method ◽  
Workspace Analysis ◽  
Inverse Solutions ◽  
Three Degrees Of Freedom

This paper designed a kind of parallel mechanism with three degrees of freedom, the freedom and movement types of the robot are analyzed in detail, the parallel mechanisms Kinematics positive and inverse solutions are derived through using the vector method. And at last its workspace is analyzed and studied systematically.

Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems

2001 ◽  
Vol 13 (5) ◽  
pp. 488-496 ◽  
Author(s):  
Noriaki Ando ◽  
◽  
Masahiro Ohta ◽  
Kohei Gonda ◽  
Hideki Hashimoto
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Parallel Mechanisms ◽  
Dual Systems ◽  
Position Accuracy ◽  
Control Scheme ◽  
Workspace Analysis ◽  
Manipulator Control ◽  
Vr Simulator

This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A parallel manipulator motion is restricted by 3 factors: mechanical limits of the passive joints, collision between links and actuators limitations. Results of the numerical workspace analysis considering the above factors are shown. We are proposing the use of dual manipulators for implementing improved real manipulation systems. The first kinematics and workspace analysis of dual systems using the VR simulator are also shown.

Workspace analysis and verification of cable-driven parallel mechanism for wind tunnel test

2016 ◽  
Vol 231 (6) ◽  
pp. 1012-1021 ◽  
Author(s):  
Xiaoguang Wang ◽  
Yunbo Hu ◽  
Qi Lin
Keyword(s):  
Wind Tunnel ◽  
Parallel Mechanism ◽  
Aerodynamic Force ◽  
Wind Tunnel Test ◽  
Special Kind ◽  
Parallel Robot ◽  
System Construction ◽  
Vector Projection ◽  
Workspace Analysis ◽  
Projection Strategy

Cable-driven parallel mechanism is a special kind of parallel robot in which traditional rigid links are replaced by actuated cables. This provides a new suspension method for wind tunnel test, in which an aircraft model is driven by a number of parallel cables to fulfil 6-DOF motion. The workspace of such a cable robot is limited due to the geometrical and unilateral force constraints, the investigation of which is important for applications requiring large flight space. This paper focuses on the workspace analysis and verification of a redundant constraint 6-DOF cable-driven parallel suspension system. Based on the system motion and dynamic equations, the geometrical interference (either intersection between two cables or between a cable and the aircraft) and cable tension restraint conditions are constructed and analyzed. The hyperplane vector projection strategy is used to solve the aircraft’s orientation and position workspace. Moreover, software ADAMS is used to check the workspace, and experiments are done on the prototype, which adopts a camera to monitor the actual motion space. In addition, the system construction is designed by using a built-in six-component balance to measure the aerodynamic force. The results of simulation and tests show a good consistency, which means that the restraint conditions and workspace solution strategy are valid and can be used to provide guidance for the cable-driven parallel suspension system’s application in wind tunnel tests.

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