A New Method of Structural Synthesis about the Partly-DOF Parallel Robot Mechanisms Based on the Screw Theory

2006 ◽  
pp. 425-429
Author(s):  
J.M. Luo ◽  
Guang Qi Cai ◽  
X. Chen ◽  
B.J. Yang ◽  
W. Huang
Keyword(s):  
Screw Theory ◽  
Parallel Robot ◽  
New Method ◽  
Structural Synthesis

Configuration Design and Kinematic Analysis on Some New 2R1T 3-DOF Parallel Robots

2011 ◽  
Vol 474-476 ◽  
pp. 840-845
Author(s):  
Da Chang Zhu ◽  
Fan Xiao ◽  
Liang Wang ◽  
Qi Hua Gu
Keyword(s):  
Dynamic Simulation ◽  
Kinematic Analysis ◽  
Screw Theory ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Configuration Design ◽  
Structural Synthesis ◽  
Systematic Method

Based on the screw theory,the paper presents a systematic method for structural synthesis of the two rotations and one translation parallel robot.According to the reciprocal product between kinetic screw and constrainted screw in screw theory.This method firstly creats possible branch structures and then generates diferent models of mechanism.By this method,the paper carries on the structural synthesis of the two rotations and one translation parallel robot,and also lists some of the mechanisms including a few new ones. Analyzsis solution of direct and inverse position.The dynamic simulation was conducted using the software of Adams.

A New Method of Structural Synthesis about the Partly-DOF Parallel Robot Mechanisms Based on the Screw Theory

2006 ◽  
Vol 315-316 ◽  
pp. 425-429
Author(s):  
Ji Man Luo ◽  
Guang Qi Cai ◽  
X. Chen ◽  
B.J. Yang ◽  
W. Huang
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
New Method ◽  
Configuration Design ◽  
Parallel Mechanisms ◽  
Structural Configuration ◽  
Different Types ◽  
Parallel Configuration

In this paper, based on some disciplinarians about the configuration design of Parallel Robot Mechanisms (PRM), the theory bases was established for parallel structural configuration design by developing different types of the partly degrees of freedom (DOF) parallel configuration designs. The new method to synthesize the partly DOF parallel mechanisms, called constraint accession, is provided to the classification of kinematical chains by use of screw theory. The active kinematical chains control the necessary DOF and the passive kinematical chains control the needless ones. In this paper, the relevant active and passive kinematical chains are put forward and the constraint chains are classified in detail. It is demonstrated by an example that new configurations can be obtained by assembling different kinematical limbs.

Modeling and Identification of Geometric Error Based on Screw Theory

2014 ◽  
Vol 941-944 ◽  
pp. 2219-2223 ◽  
Author(s):  
Guo Juan Zhao ◽  
Lei Zhang ◽  
Shi Jun Ji ◽  
Xin Wang
Keyword(s):  
Machine Tool ◽  
Laser Interferometer ◽  
Screw Theory ◽  
Geometric Error ◽  
New Method ◽  
Geometric Errors ◽  
Volumetric Error ◽  
B Spline ◽  
The Individual

In this paper, a new method is presented for the identification of machine tool component errors. Firstly, the Non-Uniform Rational B-spline (NURBS) is established to represent the geometric component errors. The individual geometric errors of the motion parts are measured by laser interferometer. Then, the volumetric error for a machine tool with three motion parts is modeled based on the screw theory. Finally, the simulations and experiments are conducted to confirm the validity of the proposed method.

Type synthesis of coordinated multi-robot system based on parallel thought

2018 ◽  
Vol 42 (2) ◽  
pp. 164-176 ◽  
Author(s):  
Wanqiang Xi ◽  
Bai Chen ◽  
Yaoyao Wang ◽  
Feng Ju
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Type Synthesis ◽  
World Coordinate System ◽  
Coordination System ◽  
Branched Chain ◽  
Branched Chains ◽  
Multi Robot

For the synthesis of the required type about the multi-robot coordination system in industrial transportation, this paper presents a novel method in which each robot in the coordinated task is viewed as a branched chain of an equivalent parallel robot (EPR), which is converted into a problem for type synthesis of parallel robots. A theoretic method is proposed to represent the kinematic features of the mechanism’s end-effector and its position and pose in the world coordinate system. The basic concept of a robotic characteristic (C) set is given, and the corresponding algorithm is analyzed. Based on the theory of C set, the concrete steps for type synthesis of EPR are presented by analyzing the characteristics of its branched chains, and many EPR groups with end kinematic features for the C sets of the operational tasks are obtained. Then three translational (3T) operational requirements that can be extended to other degrees of freedom (DOF) are adopted, and the DOF of homogeneous and heterogeneous EPR are analyzed using screw theory. Finally the validation of the method is demonstrated by Adams, which shows that the two groups are able to complete the task.

scholarly journals Kinematics analysis of a new parallel robotics

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091995
Author(s):  
Shi Baoyu ◽  
Wu Hongtao
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Virtual Prototype ◽  
Motion Platform ◽  
Closed Form Solutions ◽  
New Type ◽  
Virtual Prototype Technology ◽  
Parallel Robotics ◽  
D Model

A new type of parallel robot ROBO_003 is presented. Its mechanisms, kinematics, and virtual prototype technology are introduced. The research of degrees of freedom (DOF) is based on screw theory, a set of screw is separated as a branch, which named as constrain screw. The type of three DOF gained by counting constrain screw, the moving platform’s frame, and base platform’s frame is set, respectively, a complete kinematic research including closed-form solutions for direct kinematic problem. The 3-D model of ROBO_003 is established using SOLIDWORKS; position and orientation of motion platform can be gained using ADMAS, which is a type of virtual prototype technology. The resultant shows that the structure of ROBO_003 is reasonable, three DOF of motion platform can be operated in a reasonable range, the solutions to the direct kinematics are right, and robot ROBO_003 can be used in many industrial fields. The research of this article provides a basis for the practical application of parallel robotics ROBO_003.

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