Structure Analysis of UPC Type 3-DoF Rotational Spatial Compliant Parallel Manipulator

2010 ◽  
Vol 44-47 ◽  
pp. 1370-1374 ◽  
Author(s):  
Da Chang Zhu ◽  
Yu Hang Chen ◽  
Li Meng
Keyword(s):  
Structure Analysis ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Translational Motion ◽  
Scanning Tunneling ◽  
Nanometer Size ◽  
Ultra Precision ◽  
Motion Characteristics ◽  
Cartesian Coordinate ◽  
Type 3

Nanomanipulation could be defined as the manipulation of nanometer size objects using a nanometer size end effector with ultra precision, which was enabled by the invention of Scanning Tunneling Microscopes (STM). However, most of the existing micromanipulators provide only planar 3-DoF or spatial 3-DoF translational motion characteristics. In this paper, a 3-DoF UPC type rotational spatial compliant parallel manipulator is presented. In order to develop the structure stiffness of this kind of spatial compliant parallel manipulator, structure analysis of this mechanism is proposed. A simple but useful method which based on screw theory and geometric constraint conditions is also proposed. The compliant parallel manipulator is driven by three piezoelectric actuators and the three actuators in this mechanism are arranged according to the Cartesian coordinate system. The results of experiments via ANSYS have shown the validation of the theoretical analysis.

Structure Synthesis of 3-RRS Type Spatial Compliant Parallel Manipulator

2010 ◽  
Vol 44-47 ◽  
pp. 1375-1379
Author(s):  
Da Chang Zhu ◽  
Li Meng ◽  
Tao Jiang
Keyword(s):  
Parallel Manipulator ◽  
Compliant Mechanisms ◽  
Screw Theory ◽  
Weight Ratio ◽  
Parallel Manipulators ◽  
Robot System ◽  
New Approach ◽  
Structure Synthesis ◽  
Rigid Joints ◽  
Type 3

Parallel manipulators has been extensively studied by virtues or its high force-to-weight ratio and widely spread applications such as vehicle or flight simulator, a machine tool and the end effector of robot system. However, as each limb includes several rigid joints, assembling error is demanded strictly, especially in precision measurement and micro-electronics. On the other hand, compliant mechanisms take advantage of recoverable deformation to transfer or transform motion, force, or energy and the benefits of compliant mechanisms mainly come from the elimination of traditional rigid joints, but the traditional displacement method reduce the stiffness of spatial compliant parallel manipulators. In this paper, a new approach of structure synthesis of 3-DoF rotational compliant parallel manipulators is proposed. Based on screw theory, the structures of RRS type 3-DoF rotational spatial compliant parallel manipulator are developed. Experiments via ANSYS are conducted to give some validation of the theoretical analysis.

Design and Analysis of a Novel Reconfigurable Parallel Manipulator with Kirigami-inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors

2021 ◽  
pp. 1-23
Author(s):  
Ketao Zhang ◽  
Chen Liu
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Screw Theory ◽  
Geometric Approach ◽  
Reconfigurable Mechanisms ◽  
Serial Chain ◽  
Bending Actuator ◽  
Creative Art ◽  
Spherical Linkages ◽  
Motion Characteristics

Abstract Drawing inspiration from kirigami, a creative art of papercutting, this paper first present a simple crease pattern of a kirigami model. In terms of artimimetics which bridges the origami/kirigami art and mechanisms, the kinematic equivalent, an overconstrained 6R linkage, is extracted from the kirigami model. In terms of screw theory, constraint singularity induced transitory position and distinct closed-loop motion branches of the 6R linkage is revealed. Using the Bennett plano-spherical linkage as a closed-loop subchain of kinematic limbs, this paper then introduce a new reconfigurable parallel manipulator with three hybrid kinematic limbs. Each limb of the manipulator consists of a Bennett plano-spherical linkage and a R(RR) serial chain. Using a geometric approach, the constraints exerted on the platform by the hybrid limb are explored by analysing the motion-screw systems of the equivalent serial kinematic limb corresponding to each motion branch of the closed-loop subchain. Motion characteristics in each motion branch of the parallel manipulator are revealed. Inspired by origami-folding and inflatable actuators for soft robotics, this paper further presents a new design of inflatable bending actuator for changing motion branches of reconfigurable mechanisms. The conceptual design of the actuator is verified with a prototype fabricated using adhesive fabric and further application in reconfiguring a 3D printed foldable Bennett plano-spherical linkage.

Performance evaluation of a special 6-PUS type parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-15
Author(s):  
Xiaochu Liu ◽  
Yunfei Cai ◽  
Weitian Liu ◽  
Linlong Zhang ◽  
Chengxin Hu
Keyword(s):  
Performance Evaluation ◽  
Natural Frequency ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Shaking Table ◽  
Axial Stiffness ◽  
Neutral Position ◽  
Dynamics Model ◽  
Force Transmissibility ◽  
Kane Method

Abstract In this paper, a special 6-PUS parallel manipulator (PM) is utilized as a shaking table. Unlike the existing results about 6-PUS PMs, we make the actuator direction collinear with the linkage direction at neutral position. With respect to the application background, a further analysis of the special PM is carried out from the perspective of motion/force transmissibility, natural frequency and acceleration capability. Specially, the complete dynamics model is established based on the Kane method. Then, generalized transmission indices based on the screw theory are utilized to reflect its motion ability, and a model of natural frequency is proposed with the axial stiffness of linkages considered. Finally, the effect of the angle between the actuator direction and the linkage direction α on various performances is analyzed, and other results are included to illustrate its feasibility and usability.

Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory1

2004 ◽  
Vol 126 (1) ◽  
pp. 101-108 ◽  
Author(s):  
Xianwen Kong ◽  
Cle´ment M. Gosselin
Keyword(s):  
Parallel Manipulator ◽  
Screw Theory ◽  
General Procedure ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Type Synthesis ◽  
Validity Condition ◽  
First Time ◽  
Spherical Parallel Manipulator ◽  
Selection Of

A spherical parallel manipulator (SPM) refers to a 3-DOF (degree-of-freedom) parallel manipulator generating 3-DOF spherical motion. A method is proposed for the type synthesis of SPMs based on screw theory. The wrench systems of a spherical parallel kinematic chain (SPKC) and its legs are first analyzed. A general procedure is then proposed for the type synthesis of SPMs. The type synthesis of legs for SPKCs, the type synthesis of SPKCs, as well as the selection of inputs of SPMs are dealt with in sequence. An input validity condition of SPMs is proposed. SPKCs with and without inactive joints are synthesized. The number of overconstraints of each SPKC is also given. The phenomenon of dependent joint groups in an SPKC is revealed for the first time.

Dimensional Synthesis of a Novel 2T2R Parallel Manipulator for Medical Applications

2014 ◽  
Author(s):  
Nitish Kumar ◽  
Olivier Piccin ◽  
Bernard Bayle
Keyword(s):  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Structural Parameters ◽  
Geometric Analysis ◽  
Medical Applications ◽  
Dimensional Synthesis ◽  
Synthesis Algorithm ◽  
Percutaneous Procedures ◽  
Actuated Joints

This paper deals with the dimensional synthesis of a novel parallel manipulator for medical applications. This parallel mechanism has a novel 2T2R mobility derived from the targeted application of needle manipulation. The kinematic design of this 2T2R manipulator and its novelty are illustrated in relation to the percutaneous procedures. Due to the demanding constraints on its size and compactness, achieving a large workspace especially in orientation, is a rather difficult task. The workspace size and kinematic constraint analysis are considered for the dimensional synthesis of this 2T2R parallel mechanism. A dimensional synthesis algorithm based on the screw theory and the geometric analysis of the singularities is described. This algorithm also helps to eliminate the existence of voids inside the workspace. The selection of the actuated joints is validated. Finally, the dimensions of the structural parameters of the mechanism are calculated for achieving the required workspace within the design constraints of size, compactness and a preliminary prototype without actuators is presented.

An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

2019 ◽  
Vol 234 (3) ◽  
pp. 808-821
Author(s):  
Yulei Hou ◽  
Guoxing Zhang ◽  
Daxing Zeng
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Force Balance ◽  
Constraint Matrix ◽  
Scheme Design ◽  
Control Scheme

Dynamic modeling serves as the fundamental basis for dynamic performance analysis and is an essential aspect of the control scheme design of parallel manipulators. This report presents a concise and efficient solution to the dynamics of Stewart parallel manipulators based on the screw theory. The initial pose of these manipulators is described. Then the pose matrix of each link of the Stewart parallel mechanism is obtained using an inverse kinematics solution and an exponential product formula. Considering the constraint relationship between joints, the constraint matrix of the Stewart parallel manipulator is deduced. In addition, the Jacobian matrix and the twist of each link are obtained. Moreover, by deriving the differential form of the constraint matrix, the spatial acceleration of each link is obtained. Based on the force balance relationship of each link, the inverse dynamics and the general form of the dynamic model of the Stewart parallel manipulator is established and the process of inverse dynamics is summarized. The dynamic model is then verified via dynamic simulation using the ADAMS software. A numerical example is considered to demonstrate the feasibility and effectiveness of this model. The proposed dynamic modeling approach serves as a fundamental basis for structural optimization and control scheme design of the Stewart parallel manipulators.

Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory

2006 ◽  
Vol 41 (9) ◽  
pp. 1048-1061 ◽  
Author(s):  
Jaime Gallardo-Alvarado ◽  
José María Rico-Martínez ◽  
Gürsel Alici
Keyword(s):  
Parallel Manipulator ◽  
Screw Theory
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