Synthesis and Analysis of 4-DOF Parallel Manipulators of Computer Aided Geometry Approach

2014 ◽  
Vol 912-914 ◽  
pp. 1010-1016
Author(s):  
Yan Hua Zhang ◽  
Xiu Ju Du ◽  
Bai Yong Zhang
Keyword(s):  
Computer Simulation ◽  
Kinematic Analysis ◽  
Geometric Approach ◽  
Parallel Manipulators ◽  
Geometric Constraints ◽  
Type Synthesis ◽  
Moving Platforms ◽  
Kinematic Characteristics ◽  
Computer Aided

A novel computer aided geometry approach for type synthesis and analysis of new spatial 4-DOF parallel manipulators is put forward, and create the computer simulation mechanisms of parallel manipulators using the geometric constraints and dimension driving techniques in CAD software, Based on the computer simulation mechanisms of parallel manipulators, several new spatial 4-DOF parallel manipulators are synthesized, the kinematic characteristics of the moving platforms are analyzed by computer simulation. The results of computer simulation prove that the computer aided geometric approach for solving type synthesis and kinematic analysis is not only fairly quick and straightforward, but also has the advantages of accuracy.

scholarly journals Kinematic Analysis Of Tricept Parallel Manipulator

2012 ◽  
Vol 12 (5) ◽  
Author(s):  
Mir Amin Hosseini ◽  
Hamid-Reza Mohammadi Daniali
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Geometric Constraints ◽  
Design Parameters ◽  
Forward Kinematics ◽  
Jacobian Matrices ◽  
Moving Platforms ◽  
Workspace Optimization

Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan.Keywords- Kinematic, Workspace, Singularity, Tricept

Using CAD Variation Geometry for Solving Velocity and Acceleration of Parallel Manipulators With 3-, 4-, 5-Linearly Driving Limbs

2005 ◽  
Vol 128 (4) ◽  
pp. 738-746 ◽  
Author(s):  
Yi Lu
Keyword(s):  
Angular Velocity ◽  
Angular Acceleration ◽  
Geometric Approach ◽  
Parallel Manipulators ◽  
Computer Aided ◽  
Moving Platform ◽  
Accuracy And Repeatability

A novel CAD variation geometric approach is proposed for designing the computer v-a (velocity-acceleration) simulation mechanisms of parallel manipulators with 3-, 4-, 5-linear driving limbs. Some common math foundations, computer aided geometry constraints, and dimension driving technique, and definitions for designing the velocity-acceleration simulation mechanism are presented. The v-a simulation mechanisms of parallel manipulators with 3-, 4-, 5-linear driving limbs are created. When modifying the driving dimension of the driving limbs, the configurations of the v-a simulation mechanisms are varied correspondingly, and the velocity, angular velocity, acceleration, and angular acceleration of the moving platform are solved automatically and visualized dynamically. The results show that the computer aided geometric approach is not only fairly quick and straightforward, but is also advantageous from viewpoint of accuracy and repeatability.

Solving Jacobian Matrix of Parallel Manipulators With Linear Driving Limbs by Using CAD Variation Geometric Approach

2006 ◽  
Author(s):  
Yi Lu ◽  
Bo Hu
Keyword(s):  
Computer Simulation ◽  
Jacobian Matrix ◽  
Geometric Approach ◽  
Parallel Manipulators ◽  
Partial Derivatives ◽  
Important Index ◽  
Simulation Results ◽  
Dynamics Analyses

The velocity Jacobian matrix and the force Jacobian matrix are important index for kinematics, singularity and dynamics analyses of parallel manipulators. A novel computer variation geometric approach is proposed for solving the velocity Jacobian matrix and the force Jacobian matrix of parallel manipulators with linear driving limbs, as well as the determinant of Jacobian matrix. First, basic computer variation geometry techniques and definitions are presented for designing the simulation mechanisms, and several simulation mechanisms of parallel manipulators with linear driving limbs are created. Second, some velocity simulation mechanisms are created and the partial derivatives in Jacobian matrix are solved automatically and visualized dynamically. Based on the results of the computer simulation, the velocity Jacobian matrix and force Jacobian matrix are formed and the determinant of Jacobian matrix is solved. Moreover, the simulation results prove that the computer variation geometry approach is fairly quick and straightforward, and is accurate and repeatable. This project is supported by NSFC No. 50575198.

Geometric approach for kinematic analysis of a class of 2-DOF rotational parallel manipulators

2012 ◽  
Vol 25 (2) ◽  
pp. 241-247 ◽  
Author(s):  
Xin Dong ◽  
Jingjun Yu ◽  
Bin Chen ◽  
Guanghua Zong
Keyword(s):  
Kinematic Analysis ◽  
Geometric Approach ◽  
Parallel Manipulators

Synthesis and Design of a Novel 3T1R Fully-Parallel Manipulator

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Oscar Salgado ◽  
Oscar Altuzarra ◽  
Víctor Petuya ◽  
Alfonso Hernández
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Type Synthesis ◽  
Complete Type ◽  
Pick And Place ◽  
Schönflies Motion

In this paper a new topology of four degrees-of-freedom 3T1R fully-parallel manipulator is presented, which is defined only using lower kinematic pairs. The paper starts with a complete type synthesis of different topologies of fully-parallel manipulators that can perform the so-called Schönflies motion, based on the Theory of Groups of Displacements. After imposing some practical requirements, the different possibilities of manipulators are reduced to only one topology of fully-parallel and fully-symmetrical parallel manipulator. Then, the kinematic analysis of the manipulator is shown, including the closed-form resolution of both forward and inverse position problems, the velocity and the singularity analysis. Finally, a prototype of the manipulator is presented, which is intended to be used in pick and place applications.

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.

The Role of Constraints and Human Interaction in Evolving MEMS Designs: Microresonator Case Study

2004 ◽  
Author(s):  
Raffi Kamalian ◽  
Alice M. Agogino ◽  
Hideyuki Takagi
Keyword(s):  
Genetic Algorithms ◽  
Geometric Constraints ◽  
Human Interaction ◽  
Design System ◽  
Current State ◽  
Mems Resonator ◽  
Computer Aided ◽  
Generative Methods

In this paper we review the current state of automated MEMS synthesis with a focus on generative methods. We use the design of a MEMS resonator as a case study and explore the role that geometric constraints and human interaction play in a computer-aided MEMS design system based on genetic algorithms.

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