Kinematic Analysis of a New 1-Translationand 2-Rotational Parallel Manipulator

2012 ◽  
Vol 220-223 ◽  
pp. 1740-1743
Author(s):  
Xiu Qin Huang ◽  
Hui Ping Shen ◽  
Xiu Mei Xin
Keyword(s):  
Structural Design ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Analytic Solutions ◽  
Structural Parameter ◽  
The Novel ◽  
Input And Output ◽  
Solid Foundation ◽  
Input Variables

A novel 1-translation and 2-rotation parallel manipulator is investigated. An analytic solutions corresponding to the forward and inverse position are obtained. The influences by the three input variables on the three output variables are analyzed carefully and the valid working ranges of input and output variables are given. The work of the paper provided a solid foundation for mechanical structural design and real-time controlling of the novel parallel mechanism by structural parameter discussion.

Design and Kinematic Analysis of Two Novel 1-Translation and 2-Rotation Parallel Mechanism

2010 ◽  
Vol 33 ◽  
pp. 513-517
Author(s):  
Xiu Qin Huang ◽  
Hui Ping Shen ◽  
Xiu Mei Xin
Keyword(s):  
Structural Design ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Analytic Solutions ◽  
The Novel ◽  
Parallel Mechanisms ◽  
Input And Output ◽  
Pros And Cons ◽  
Solid Foundation ◽  
Input Variables

The two novel 1-translation and 2-rotation parallel mechanisms are investigated. An analytic solutions corresponding to the forward and inverse position are obtained. The influences by the three input variables on the three output variables are analyzed carefully and the valid working ranges of input and output variables are given. The pros and cons are addressed by comparing with the two parallel mechanisms, and the optimal one of the two mechanisms is produced.The work of the paper provided a solid foundation for mechanical structural design and real-time controlling of the novel parallel mechanism.

Kinematic Analysis of a Novel Three Degree of Freedom Parallel Mechanism

2011 ◽  
Vol 320 ◽  
pp. 228-231 ◽  
Author(s):  
Xiu Qin Huang ◽  
Hui Ping Shen ◽  
Xiu Mei Xin
Keyword(s):  
Industrial Application ◽  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Structural Parameter ◽  
Parallel Mechanisms ◽  
Input And Output ◽  
Solid Foundation ◽  
Input Variables ◽  
Three Degree Of Freedom ◽  
Kinematics Parameters

A novel 3 degree of freedom(1-Translation and 2-Rotation) parallel mechanisms is investigated. The forward and inverse position of the mechanism are studied. The influences by the three input variables on the three output variables are analyzed carefully and the valid working ranges of input and output variables are given by discussing structural parameter. These provide a solid foundation for selecting structural designs and kinematics parameters accurately and for realizing the control and industrial application of the mechanism.

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.

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism for Rehabilitation

2007 ◽  
Author(s):  
Jody A. Saglia ◽  
Jian S. Dai
Keyword(s):  
Control System ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Control System Design ◽  
Ankle Rehabilitation ◽  
Redundantly Actuated ◽  
Moving Platform

This paper presents the geometry and the kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as the beginning of a control system design process. First the geometry of the parallel mechanism is described, secondly the equations for the inverse and the forward kinematics are obtained, then the forward kinematics is analyzed in order to define all the possible configurations of the moving platform. Finally the Jacobian matrix of the rig is obtained by differentiating the position equations and the singularities are investigated, comparing the non-redundant and redundant type of mechanism.

On the kinematics of a new parallel mechanism with Schoenflies motion

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2056-2070 ◽  
Author(s):  
Po-Chih Lee ◽  
Jyh-Jone Lee
Keyword(s):  
Closed Form ◽  
Condition Number ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Matrix Algebra ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Pick And Place

SUMMARYThis paper investigates the kinematics of one new isoconstrained parallel manipulator with Schoenflies motion. This new manipulator has four degrees of freedom and two identical limbs, each having the topology of Cylindrical–Revolute–Prismatic–Helical (C–R–P–H). The kinematic equations are derived in closed-form using matrix algebra. The Jacobian matrix is then established and the singularities of the robot are investigated. The reachable workspaces and condition number of the manipulator are further studied. From the kinematic analysis, it can be shown that the manipulator is simple not only for its construction but also for its control. It is hoped that the results of the evaluation of the two-limb parallel mechanism can be useful for possible applications in industry where a pick-and-place motion is required.

scholarly journals A Numerical Approach for 3 PRS Parallel Manipulator

2018 ◽  
Vol 7 (4.10) ◽  
pp. 90 ◽  
Author(s):  
Arockia Selvakumar A ◽  
. .
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Numerical Approach ◽  
Inverse Kinematic ◽  
Position Vector ◽  
Vector Method ◽  
Spherical Parallel Mechanism ◽  
Forward Kinematic

This paper presents a numerical approach on kinematic analysis of 3-DOF parallel manipulator (PM). The proposed mechanisms constitute of PRS (Prismatic-Revolute-Spherical) parallel mechanism with two rotations and one translation. The forward and inverse kinematic equations of the PM are derived by position vector method. A total of 48 solutions are obtained for the forward kinematic equations using MATLAB. 

Analysis of Singularities of a 3DOF Parallel Manipulator Based on a Novel Geometrical Method

2006 ◽  
Author(s):  
Hodjat Pendar ◽  
Hajir Roozbehani ◽  
Hoda Sadeghian ◽  
Hassan Zohoor
Keyword(s):  
Angular Velocity ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
The Novel ◽  
Geometrical Method ◽  
Novel Method ◽  
Grassmann Geometry ◽  
Constraint Plane ◽  
Definition Of

In this article singular points of a parallel manipulator are obtained based on a novel geometrical method. Here we introduce the constrained plain method (CPM) and some of its application in parallel mechanism. Given the definition of constraint plane (CP) and infinite constraint plane (ICP) the dependency conditions of constraints is achieved with the use of a new theorem based on the Ceva geometrical theorem. The direction of angular velocity of a body is achieved by having three ICPs with the use of another theorem. Finally, with the use of the above two novel theorems singularities of the 3UPF_PU mechanism are obtained. It should be emphasized that this method is completely geometrical, involving no complex or massive calculations. In the previous methods based on the Grassmann Geometry, the mechanism needs to be statically analyzed at first, so that the Inverse Jacobian Matrix is achieved, and then the Plucker-Vector is derived. This task is somewhat inconvenient and in the end there are plenty of conditions remained to be pondered in order to obtain the singularity conditions, while the novel method introduced here, involves no tiring calculations neither the analysis of numerous conditions and yields the answer quickly.

Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle

2018 ◽  
Vol 94 (2) ◽  
pp. 303-325 ◽  
Author(s):  
Shivesh Kumar ◽  
Bertold Bongardt ◽  
Marc Simnofske ◽  
Frank Kirchner
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
The Novel ◽  
Spherical Parallel Mechanism
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