Kinematic Analysis and Simulation of the Translational Parallel Mechanism

2011 ◽  
Vol 213 ◽  
pp. 43-47 ◽  
Author(s):  
Dong Tao Xu ◽  
Zhi Li Sun ◽  
Jia Lian Shi
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Virtual Prototyping ◽  
Inverse Solution ◽  
Kinematic Modeling ◽  
Forward Solution ◽  
Vector Method ◽  
End Effector ◽  
Kinematic Simulation ◽  
Revolute Joints

This paper presents a novel, precision, maneuverable, 3-DOF translational parallel mechanism. The mechanism’s important feature is that all of the kinematic joints are the revolute joints. The paper derives the mechanism’s kinematic forward solution and inverse solution by using of coordinate transformation elimination method and vector method, and establishes proper kinematic modeling. Kinematic simulation is carried out by ADAMS virtual prototyping software. The operating data is obtained, it verifies the correctness of solving the forward and inverse solution, and solve the question of choices for many results during the theoretical solution. This technique can provide a useful tool in the design of kinematic trajectory of the parallel mechanism’s end-effector and the kinematic analysis of other parallel mechanism.

Analysis and Simulation of Velocity and Acceleration Based on Three-Translational Parallel Mechanism

2011 ◽  
Vol 299-300 ◽  
pp. 940-944
Author(s):  
Dong Tao Xu ◽  
Zhi Li Sun ◽  
Yong Ying Du
Keyword(s):  
Theoretical Calculation ◽  
Analytical Method ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Virtual Prototyping ◽  
Vector Method ◽  
Kinematic Simulation ◽  
Operating Data ◽  
Moving Platform

Aimed at three-translational parallel mechanism, the velocity Jacobian matrix is formulated on the basis of analytical method, so the velocity and acceleration of the moving platform is calculated. Then the velocity and acceleration formulas of all components’ centroids are deduced based on the vector method. The above formulas are very simple and easy to solve. Kinematic simulation is carried out by ADAMS virtual prototyping software. The operating data is obtained, it verifies the correctness of the theoretical calculation.

Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

scholarly journals Conceptual Design and Computational Modeling Analysis of a Single-Leg System of a Quadruped Bionic Horse Robot Driven by a Cam-Linkage Mechanism

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liangwen Wang ◽  
Weiwei Zhang ◽  
Caidong Wang ◽  
Fannian Meng ◽  
Wenliao Du ◽  
...  
Keyword(s):  
Motion Analysis ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Three Dimensional ◽  
Kinematic Modeling ◽  
Linkage Mechanism ◽  
Vector Method ◽  
Pressure Angle ◽  
End Point

In this study, the configuration of a bionic horse robot for equine-assisted therapy is presented. A single-leg system with two degrees of freedom (DOFs) is driven by a cam-linkage mechanism, and it can adjust the span and height of the leg end-point trajectory. After a brief introduction on the quadruped bionic horse robot, the structure and working principle of a single-leg system are discussed in detail. Kinematic analysis of a single-leg system is conducted, and the relationships between the structural parameters and leg trajectory are obtained. On this basis, the pressure angle characteristics of the cam-linkage mechanism are studied, and the leg end-point trajectories of the robot are obtained for several inclination angles controlled by the rotation of the motor for the stride length adjusting. The closed-loop vector method is used for the kinematic analysis, and the motion analysis system is developed in MATLAB software. The motion analysis results are verified by a three-dimensional simulation model developed in Solidworks software. The presented research on the configuration, kinematic modeling, and pressure angle characteristics of the bionic horse robot lays the foundation for subsequent research on the practical application of the proposed bionic horse robot.

The Research on Kinematics and Optimized Design of a Novel Parallel Mechanism with Six Freedoms

2011 ◽  
Vol 199-200 ◽  
pp. 1314-1319
Author(s):  
Cai An Fu ◽  
Jian Hao ◽  
Wen Chen
Keyword(s):  
Analytical Solutions ◽  
Parallel Mechanism ◽  
Inverse Solution ◽  
Optimized Design ◽  
Vector Method ◽  
Inverse Solutions ◽  
Specific Factors

This paper proposes a novel parallel mechanism named 3/3-RRRS, and gives a research of direct and inverse solutions to positions of this mechanism. The equations of direct and inverse solutions are proposed by using vector method , and the analytical solutions of the inverse solution are given .There are many factors which influence the workspace, The article analyzes the specific factors that influence the workspace by using the software ADAMS, the workspace will function as a target for agencies to optimize the parameters.

The Application of Virtual Prototyping Technology in the Kinematic Analysis of Hydraulic Excavator Working Device

2012 ◽  
Vol 538-541 ◽  
pp. 3235-3239
Author(s):  
Hai Hong Chen ◽  
Jian Ping Zi
Keyword(s):  
Virtual Environment ◽  
Working Conditions ◽  
Kinematic Analysis ◽  
Simulation Analysis ◽  
Virtual Prototyping ◽  
Three Dimensional ◽  
Hydraulic Excavator ◽  
Kinematic Simulation ◽  
Virtual Prototyping Technology ◽  
Working Device

Three-dimensional software Solidworks and ADAMS were combined together to establish the virtual prototyping model of hydraulic excavator working device in this paper. Various real typical working conditions of excavators were simulated in the virtual environment, then kinematic simulation analysis was conducted, and the main mining parameters in different conditions were given, the results provide a basis for the design of excavator working device.

Kinematic Analysis of 5-UPS Parallel Machine Tool Based on Adams

2014 ◽  
Vol 644-650 ◽  
pp. 215-219 ◽  
Author(s):  
Lin Cai
Keyword(s):  
Mathematical Model ◽  
Machine Tool ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Machine ◽  
Inverse Solution ◽  
Robot Kinematics ◽  
Vector Method ◽  
Parallel Machine Tool ◽  
The Mathematical Model

In this paper, the kinematics of 5-UPS parallel machine tool is analyzed, and a kinematic analysis method combining kinematic analysis and computer kinematics software is proposed. Under the premise that the parallel machine tool sector parameters is known, firstly we use the vector method to establish a mathematical model of inverse kinematics, and in accordance with a U-shaped processing trajectory the inverse solution is calculated; Secondly, three-dimensional model of the parallel machine tool is modeled in Adams, and kinematic constraints are set correctly; Finally, the inverse kinematics solution of the mathematical model is used as the Adams drive input, then the positive solutions is carried out. Compared through the Adams simulation results with U-machining path, it is verified that the inverse solution of the mathematical model and parallel machine tool bodies both are correct, it has certain significance for Parallel machine tools and other parallel robot kinematics analysis.

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. 

scholarly journals Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine

2004 ◽  
Author(s):  
Ste´phane Caro ◽  
Philippe Wenger ◽  
Fouad Bennis ◽  
Damien Chablat
Keyword(s):  
Sensitivity Analysis ◽  
Kinematic Analysis ◽  
Design Parameters ◽  
Analysis Method ◽  
Parallel Kinematic Machine ◽  
Vector Method ◽  
End Effector ◽  
Singular Configurations ◽  
Parallel Kinematic ◽  
Position And Orientation

This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are used to analyze its sensitivity to its dimensional and angular variations. First, a linkage kinematic analysis method is used to have a rough idea of the influence of the dimensional variations on the location of the end-effector, and shows that the variations in design parameters of the same type from one leg to another one have the same influence on the end-effector. However, this method does not allow the designer to know the influence of the variations in the parallelograms. Thus, a differential vector method is used to study the influence of the dimensional and angular variations in the parts of the manipulator, and particularly the variations in the parallelograms, on the position and orientation of the end-effector. It turns out that the isotropic kinematic configuration of the manipulator is the least sensitive one to its geometrical variations, contrary to the closest configurations to its kinematic singular configurations, which are the most sensitive to geometrical variations.

STUDY ON THE MODELING, ALGORITHM AND APPLICATION OF PRODUCT KINEMATIC SIMULATION VIRTUAL-ENVIRONMENT-ORIENTED

2010 ◽  
Vol 09 (02) ◽  
pp. 157-160
Author(s):  
ZHIHONG CHENG ◽  
BAOMING WANG ◽  
ZHENCAI ZHU ◽  
HAIFENG YAN ◽  
WENSHU CAI
Keyword(s):  
Virtual Environment ◽  
Kinematic Analysis ◽  
Topological Structure ◽  
Combustion Engine ◽  
Virtual Prototyping ◽  
Product Performance ◽  
Motion Model ◽  
Kinematic Simulation ◽  
Knowledge Expression ◽  
Kinematic Mapping

Kinematic simulation in virtual environment is the key technique of product performance evaluation. Based on graph theory, the paper gives the integrity knowledge expression of product motion model, including the topological structure, motion dimension and driver information. It builds a solver of kinematic analysis for planar linkage interactive-oriented, which based on auto-identifying of Assur groups and auto-generating of kinematic analysis routine by operating labeled adjacency matrix. A new method of kinematic simulation for virtual prototyping is put forward based on the kinematic mapping of pseudo-linkage. The achievements have been applied to the kinematic simulation of internal-combustion engine, punch and crusher.

Novel 4-DOF SCARA Parallel Robot With Cylindrical Workspace

2018 ◽  
Author(s):  
Oleksandr Stepanenko ◽  
Ilian A. Bonev
Keyword(s):  
Optimal Design ◽  
Mechanism Design ◽  
Kinematic Analysis ◽  
Parallel Robot ◽  
Equal Length ◽  
The Novel ◽  
End Effector ◽  
Revolute Joints ◽  
Serial Robot

In this paper, we present a novel 4-DOF SCARA parallel robot. The 2-DOF portion of the novel robot has been proposed before and consists of an end-effector connected to the base through two legs of type RRR and one passive constraining leg of type RP, where all the base-mounted revolute joints are coaxial. Contrary to SCARA robots based on the four-bar mechanism (RRRRR), the novel robot has a fully cylindrical workspace with no voids or parallel singularities in it. The novel robot has essentially the same workspace as that of a similarly sized ceiling-mounted SCARA serial robot (RR) with links of equal length. However, the proposed robot has the advantage of having all motors mounted on the base. We present the 2-DOF portion of the robot, its kinematic analysis, and its optimal design, and finally propose a mechanism design for the 4-DOF SCARA parallel robot.

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