Orientation Workspace Analysis of a Novel 3SPS+1PS Symmetrical Parallel Manipulator Based on Unit Quaternion

2011 ◽  
Vol 201-203 ◽  
pp. 1849-1853
Author(s):  
Jing Li Yu ◽  
Gang Cheng ◽  
Shuai Zhang ◽  
De Kun Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Unit Quaternion ◽  
Structure Characteristics ◽  
Workspace Analysis ◽  
Moving Platform ◽  
Position And Orientation ◽  
4 Degrees Of Freedom ◽  
Orientation Workspace

For a novel 3SPS+1PS parallel manipulator with 4 degrees of freedom including three rotations and one translation, the formulae for solving the inverse kinematics equations are derived based on quaternion method. Unit quaternion is used to represent the position and orientation of moving platform, and the singularities caused by Euler angles are avoided. Combining the topological structure characteristics of the parallel manipulator, it only has three rotations when its moving platform is at a given translation position. Based on the inverse position/pose equations and the all the constraints of the parallel manipulator, the discrete algorithm for the orientation workspaces of 3SPS+1PS parallel manipulator where the moving platform is at some different given translation positions are designed. The research builds the theoretical basis for optimizing the orientation workspace with given position.

Workspace Optimization of a Six Degrees of Freedom Parallel Manipulator for Micromachining

2010 ◽  
Author(s):  
Ahmet Agaoglu ◽  
Namik Ciblak ◽  
Koray K. Safak
Keyword(s):  
Numerical Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Base Plane ◽  
Six Degrees Of Freedom ◽  
Moving Platform ◽  
Workspace Optimization ◽  
Kinematic Diagram ◽  
Orientation Workspace

This work addresses the optimization of the workspace of a six degrees of freedom parallel manipulator. In this study, The topology of the manipulator is composed of three xy-tables, symmetrically positioned on a circle on a base plane, connected by three legs to a moving platform. Kinematic composition of the manipulator is introduced and kinematic diagram is illustrated. Orientation workspace is investigated using three different orientation representations. XYZ fixed angles representation is selected considering the benefits of its visualization are considered. By using this representation, the orientation workspace is modeled and kinematic circuits of the manipulator are explored. First, optimization is performed without slider limitations. A result table is obtained based on the user defined parameters. Secondly, optimization is performed under slider limitations. The maximal orientation capability is optimized using numerical analysis. The optimized configuration of the manipulator indicates that a 330% increase in orientation capability is achieved, compared to the old configuration.

scholarly journals Design and analysis of a class of redundant collaborative manipulators with 2D large rotational angles

2019 ◽  
Vol 15 (1) ◽  
pp. 66-80
Author(s):  
Xiaodong Jin ◽  
Yuefa Fang ◽  
Dan Zhang ◽  
Xueling Luo
Keyword(s):  
Machine Tools ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Rotational Axis ◽  
Revolute Joints ◽  
3D Printers ◽  
Rotational Degrees Of Freedom ◽  
Moving Platform ◽  
Orientation Workspace

AbstractThe parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational angles. In order to construct 2D rotational degrees of freedom (DOFs), a platform with 2D revolute joints is proposed first. Based on the constraint screw theory, the feasible limbs that can be connected in the platform are synthesized. In order to provide constant rotational axis for the platform, a class of redundant limbs are designed. A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion. The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform. The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed. The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.

Inverse Kinematics and Dynamics of a 3-DOF Spatial Parallel Manipulator

2012 ◽  
Vol 229-231 ◽  
pp. 2280-2284
Author(s):  
Jian Xin Yang ◽  
Ben Zhao ◽  
Chun Li Li
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Rotational Degree ◽  
Kinematics Analysis ◽  
Inverse Dynamic ◽  
Generalized Coordinates ◽  
Euler Approach ◽  
Position And Orientation

Recently the parallel manipulator with less DOFs has attracted industry and academia, but the research on its dynamics is still an open problem. In this paper, the inverse dynamic of a spatial parallel manipulator with two translational degrees of freedom and one rotational degree of freedom is studied based on the Newton-Euler approach. The kinematics analysis is firstly performed in a closed form. The inverse dynamic equation of this manipulator is formulated by using the Lagrange multiplier approach and choosing the Cartesian position and orientation as the generalized coordinates. Finally a numerical example is given for the kinematic and dynamic simulation of this manipulator. The model will be useful to improve the design of the mechanical components and the control algorithm.

Design and Analysis of 3R2T and 3R3T Parallel Mechanisms With High Rotational Capability

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Congzhe Wang ◽  
Yuefa Fang ◽  
Sheng Guo
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Velocity Analysis ◽  
Parallel Mechanisms ◽  
Workspace Analysis ◽  
Moving Platform ◽  
Displacement Theory ◽  
Lie Subgroup ◽  
Orientation Workspace

This paper describes the design, kinematics, and workspace analysis of 3R2T and 3R3T parallel mechanisms (PMs) with large rotational angles about three axes. Since the design of PMs with high rotational capability is still a challenge, we propose the use of a new nonrigid (or articulated) moving platform with passive joints in order to reduce the interference between limbs and the moving platform. According to the proposed nonrigid platform and Lie subgroup of displacement theory, several 3R2T and 3R3T PMs are presented. Subsequently, the inverse kinematics and velocity analysis of one of the proposed mechanisms are detailed. Based on the derived inverse kinematic model, the constant-orientation workspace is computed numerically. Then, the analysis of rotational capability about the three axes is performed. The result shows that even if interference and singularity are taken into account, the proposed mechanisms still reveal the high continuously rotational capability about the three axes, by means of actuation redundancy.

A Novel Three-DOF 3-RRRRR Parallel Platform Mechanism and Its Position Analysis

2005 ◽  
Author(s):  
Shihua Li ◽  
Zhen Huang ◽  
Jianguang Wu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Initial Configuration ◽  
Parallel Platform ◽  
Moving Platform ◽  
General Configuration ◽  
Novel Model ◽  
Three Degrees Of Freedom

In order to enrich deficient-DOF parallel mechanism models, a novel model of a 3-DOF platform manipulator is presented and establish its inverse kinematics equation. Here, studies instantaneous motions of 3-RRRRR parallel manipulator at initial configuration and general configuration. Find: it has three degrees of freedom at initial configuration and after translated along the X, Y, Z axis. Secondly, the relation is given between every active input (θ1) and moving platform position by using D-H means, the solution is developed for inverse kinematics, numerical example for the position kinematic is presented, the figure of workspace along the Z-axis is drawn finally. The mechanism can be applied to jiggle mechanism.

Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Andrew Johnson ◽  
Xianwen Kong ◽  
James Ritchie
Keyword(s):  
Computer Aided Design ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Workspace Analysis ◽  
Computer Aided ◽  
Aided Design

The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtual-chain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a VC approach to the workspace analysis of parallel manipulators. This method is first outlined before being illustrated by the production of a three-dimensional (3D) computer-aided-design (CAD) model of a 3-RPS parallel manipulator and evaluating it for the workspace of the manipulator. Here, R, P and S denote revolute, prismatic and spherical joints respectively. The VC represents the motion capability of moving platform of a manipulator and is shown to be very useful in the production of a graphical representation of the workspace. Using this approach, the link interferences and certain transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

Dynamic Modeling of a Parallel Manipulator With Three Translational Degrees of Freedom

1998 ◽  
Author(s):  
Richard Stamper ◽  
Lung-Wen Tsai
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Close Agreement ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Kinematic Structure ◽  
End Effector ◽  
Moving Platform ◽  
Euler Approach ◽  
Computationally Intensive

Abstract The dynamics of a parallel manipulator with three translational degrees of freedom are considered. Two models are developed to characterize the dynamics of the manipulator. The first is a traditional Lagrangian based model, and is presented to provide a basis of comparison for the second approach. The second model is based on a simplified Newton-Euler formulation. This method takes advantage of the kinematic structure of this type of parallel manipulator that allows the actuators to be mounted directly on the base. Accordingly, the dynamics of the manipulator is dominated by the mass of the moving platform, end-effector, and payload rather than the mass of the actuators. This paper suggests a new method to approach the dynamics of parallel manipulators that takes advantage of this characteristic. Using this method the forces that define the motion of moving platform are mapped to the actuators using the Jacobian matrix, allowing a simplified Newton-Euler approach to be applied. This second method offers the advantage of characterizing the dynamics of the manipulator nearly as well as the Lagrangian approach while being less computationally intensive. A numerical example is presented to illustrate the close agreement between the two models.

Sign in / Sign up

Export Citation Format

Share Document