Analysis of the Influence of Structure Parameters of Six Degree of Freedom Parallel Robot Workspace

2014 ◽  
Vol 933 ◽  
pp. 390-394 ◽  
Author(s):  
Li Wen Chen ◽  
Bing Yan Cui
Keyword(s):  
Theoretical Basis ◽  
Structural Parameters ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Structure Parameters ◽  
Evaluation Standards ◽  
Workspace Analysis ◽  
Searching Method ◽  
Six Degree Of Freedom ◽  
The Relationship

The structure parameters of the robot directly affects its workspace, in order to get the relationship between the structure parameters of the robot and the size of workspace, an evaluation standards of the size of workspace is presented based on the mechanism of the center height. This paper proposes an novel 2URS&UPS parallel robot, it has Six degree of freedom. By using the sphere coordinate searching method, through the MTLAB programming calculated the influence of structural parameters on the workspace. Analysis results show that the parallel robot has the maximum workspace, when the static platform radius is 140mm and the moving platform radius is 120 mm, the rod length is 160mm. The study showed the parallel robot has advantage of a large workspace and symmetry. The parallel robot can be used for walking leg, mechanism arm, etc. The paper provide a theoretical basis for design of the parallel robot.

KINEMATICS AND WORKSPACE ANALYSIS OF A 3 DEGREE OF FREEDOM PARALLEL MECHANISM WITH PARALLELOGRAM LINKAGE

2017 ◽  
Vol 41 (5) ◽  
pp. 922-935
Author(s):  
HongJun San ◽  
JunSong Lei ◽  
JiuPeng Chen ◽  
ZhengMing Xiao ◽  
JunJie Zhao
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Analytical Method ◽  
Theoretical Basis ◽  
Parallel Mechanism ◽  
Graphical Method ◽  
Degree Of Freedom ◽  
Workspace Analysis ◽  
Fixed Base ◽  
Moving Platform

In this paper, a 3-DOF translational parallel mechanism with parallelogram linkage was studied. According to the space vector relation between the moving platform and the fixed base, the direct and inverse position solutions of this mechanism was deduced through analytical method. In addition, the error of the algorithm was analyzed, and the algorithm had turned out to be effective and to have the satisfactory computational precision. On the above basis, the workspace of this mechanism was found through graphical method, which was compared with that of finding through Monte Carlo method, and there was the feasibility for analyzing the workspace of the mechanism by graphical method. The characteristic of the mechanism was analyzed by comparing the results of two analysis methods, which provided a theoretical basis for the application of the mechanism.

Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 2136-2142 ◽  
Author(s):  
Rui Fan ◽  
Huan Liu ◽  
Dan Wang
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Search Method ◽  
Architecture Design ◽  
Original Volume ◽  
Workspace Analysis ◽  
The Relationship

A spatial 3-DOF translational parallel mechanism is analyzed. Its inverse kinematic model is established. The section view of the workspace of the parallel mechanism is presented via boundary search method under the defined constraints. Considering the workspace volume as the optimization object, the relationship between structural parameters and workspace volume is obtained and the structural parameters to be optimized are determined. Finally, the optimization configuration of the mechanism is obtained. The results show that the volume of the workspace increases 1.55 times as much as the original volume, which lay the foundation for the architecture design.

Design and Development of a Novel 2-Degree-of-Freedom Parallel Robot

Robotica ◽  
2019 ◽  
Vol 38 (1) ◽  
pp. 1-14
Author(s):  
Changxi Cheng ◽  
Wenkai Huang ◽  
Chunliang Zhang
Keyword(s):  
Structural Design ◽  
Medical Science ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Degree Of Freedom ◽  
Static Stiffness ◽  
Reachable Workspace ◽  
Workspace Analysis ◽  
Potential Applications ◽  
Speed Performance

SummaryParallel robots are widely used in the fields of manufacturing, medical science, education, scientific research, etc. Many studies have been conducted on the topic already. However, shortcomings still exist, especially in certain situations. To meet the demand of good speed and load performances at the same time, this work presents a novel 2-degree-of-freedom parallel robot. The structural design, static, stiffness, and reachable workspace analysis of the robot are given in the manuscript. Experiment regarding the accuracy and speed performance is conducted, and the results are provided. In the end, potential applications of the proposed robot are suggested.

Sliding Mode Set Point Control of a Six-DOF Cable-Suspended Parallel Robot With Tension Constraints and Uncertain Disturbances

2018 ◽  
Author(s):  
Ping Ren ◽  
Yunlong Sun
Keyword(s):  
Sliding Mode ◽  
Sufficient Conditions ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Set Point ◽  
Uncertain Disturbances ◽  
Point Motion ◽  
Six Dof ◽  
Six Degree Of Freedom ◽  
The Relationship

This paper presents the design of a robust sliding mode controller for a six-degree-of-freedom cable-suspended parallel robot under uncertain disturbances. The control of cable-suspended parallel robots is quite challenging due to the unidirectional constraint of cable tensions. With the aid of interval analysis, a set of algebraic inequalities is obtained to establish the relationship between the cables’ tension constraints and the controller parameters. The sufficient conditions of the controller parameters satisfying the constraints are obtained for the set point motion within the robot’s static workspace. Numerical simulations are presented to verify the effectiveness of the proposed approach.

Kinematic accuracy research of a novel six-degree-of-freedom parallel robot with three legs

2016 ◽  
Vol 102 ◽  
pp. 86-102 ◽  
Author(s):  
Jianxun Fu ◽  
Feng Gao ◽  
Weixing Chen ◽  
Yang Pan ◽  
Rongfu Lin
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Kinematic Accuracy ◽  
Six Degree Of Freedom
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