Kinematics Investigation, Workspace Analysis and Actuators Design for a 2-DOF Redundant Parallel Robot

2010 ◽  
Vol 166-167 ◽  
pp. 333-338
Author(s):  
Ciprian Rad ◽  
Calin Rusu ◽  
Radu Balan
Keyword(s):  
Parallel Robot ◽  
Forward Kinematics ◽  
Reachable Workspace ◽  
Workspace Analysis

This paper discusses the inverse and forward kinematics problem for a 2-dof parallel robot with actuator redundancy. The reachable workspace of the robot is generated for a set of parameters and a solution for the actuators is proposed in the final.

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.

Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane

2012 ◽  
Vol 227 (3) ◽  
pp. 620-629 ◽  
Author(s):  
Hairong Fang ◽  
Yuefa Fang ◽  
Ketao Zhang
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Geometric Approach ◽  
Forward Kinematics ◽  
Configuration Design ◽  
Reachable Workspace ◽  
Revolute Joints ◽  
Workspace Analysis ◽  
Symmetric Plane ◽  
The Common

This article presents a novel 3-DOF parallel manipulator extracted from an origami fold in the context of mechanisms. The parallel manipulator consists of a base, a platform and four chain-legs that connect the platform to base through revolute joints. Each chain-leg contains a closed-loop sub-chain, which is spherical 6R linkage with symmetrical angle lengths. The geometry of the parallel manipulator is revealed according to the configuration design and specifics of the origami fold. This leads to unravelling of the symmetric plane which is determined by the common points of spherical 6R linkages in the four chain-legs. Based on geometric approach, the solutions for both inverse and forward kinematics are derived and the reachable workspace is then analyzed.

scholarly journals Inverse and forward kinematics and workspace analysis of a novel 5-DOF (3T2R) parallel–serial (hybrid) manipulator

2021 ◽  
Vol 18 (2) ◽  
pp. 172988142199296
Author(s):  
Anton Antonov ◽  
Alexey Fomin ◽  
Victor Glazunov ◽  
Sergey Kiselev ◽  
Giuseppe Carbone
Keyword(s):  
Extreme Values ◽  
Kinematic Chain ◽  
Forward Kinematics ◽  
Inverse Kinematic Problem ◽  
End Effector ◽  
Generalized Coordinates ◽  
Reachable Workspace ◽  
Workspace Analysis ◽  
Forward Kinematic ◽  
Made In

The proposed study provides a solution of the inverse and forward kinematic problems and workspace analysis for a five-degree-of-freedom parallel–serial manipulator, in which the parallel kinematic chain is made in the form of a tripod and the serial kinematic chain is made in the form of two carriages displaced in perpendicular directions. The proposed manipulator allows to realize five independent movements—three translations and two rotations motion pattern (3T2R). Analytical relationships between the coordinates of the end-effector and five controlled movements provided by manipulator’s drives (generalized coordinates) were determined. The approach of reachable workspace calculation was defined with respect to available design constraints of the manipulator based on the obtained algorithms of the inverse and forward kinematics. Case studies are considered based on the obtained algorithms of inverse and forward kinematics. For the inverse kinematic problem, the solution is obtained in accordance with the given laws of position and orientation change of the end-effector, corresponding to the motion along a spiral-helical trajectory. For the forward kinematic problem, various assemblies of the manipulator are obtained at the same given values of the generalized coordinates. An example of reachable workspace designing finalizes the proposed study. Dimensions and extreme values of the end-effector orientation angles are calculated.

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 A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Nicholas Baron ◽  
Andrew Philippides ◽  
Nicolas Rojas
Keyword(s):  
Potential Application ◽  
Robot Manipulator ◽  
Video Recording ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Geometric Method ◽  
Forward Kinematics ◽  
Online Video ◽  
End Effector ◽  
Moving Platform

This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.

Sign in / Sign up

Export Citation Format

Share Document