Mechatronic Design of a Parallel Robot for Milling

2013 ◽  
Vol 198 ◽  
pp. 21-26
Author(s):  
Maciej Petko ◽  
Grzegorz Karpiel
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Kinematics And Dynamics ◽  
Mechatronic Design ◽  
Payload Capacity ◽  
High Payload

The paper presents the process of development of a parallel manipulator for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR, fully-parallel manipulator with three translational degrees of freedom, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, with analysis of its kinematics and dynamics. A controller is proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.

Construction of a Six-Degrees-of-Freedom Parallel Manipulator With Three Planarly Actuated Links

1996 ◽  
Author(s):  
Ronen Ben-Horin ◽  
Moshe Shoham
Keyword(s):  
Parallel Manipulator ◽  
High Performance ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Simple Design ◽  
Output Link ◽  
Coordinated Motion ◽  
Six Degrees Of Freedom ◽  
Work Volume ◽  
New Type

Abstract The construction of a new type of a six-degrees-of-freedom parallel robot is presented in this paper. Coordinated motion of three planar motors, connected to three fixed-length links, produces a six-degrees-of-freedom motion of an output link. Its extremely simple design along with much larger work volume make this high performance-to-simplicity ratio robot very attractive.

Assessing 3 and 5 Degrees of Freedom Toolpath Strategy Influence on Single Point Incremental Forming

2015 ◽  
Vol 651-653 ◽  
pp. 1159-1162 ◽  
Author(s):  
João B. Sá de Farias ◽  
Ricardo P. Bastos ◽  
Jorge A. Ferreira ◽  
Ricardo J. Alves de Sousa
Keyword(s):  
High Strength Steel ◽  
Degrees Of Freedom ◽  
Incremental Forming ◽  
Single Point ◽  
High Strength ◽  
Manufacturing Technology ◽  
Single Point Incremental Forming ◽  
Payload Capacity ◽  
The University ◽  
High Payload

Single Point Incremental Forming (SPIF) is a promising manufacturing technology concerning the production of customized products, low batches or prototyping of ready-to-use parts, given its easy implementation and absence of dedicated tooling. The range of application is wide, covering many materials and virtually unlimited geometries. Indeed, nowadays’ boundaries of the process are more related to the machines limitations than to the process itself. The SPIFA machine [1] developed at the University of Aveiro allies high payload capacity to flexibility driven by a kinematics based on a Stewart Platform. In this work, it will discussed the effects of employing five degrees of freedom toolpaths to produce aluminium and high strength steel parts.

scholarly journals Kinematics Performance and Dynamics Analysis of a Novel Parallel Perfusion Manipulator with Passive Link

2018 ◽  
Vol 2018 ◽  
pp. 1-18 ◽  
Author(s):  
Hui Yang ◽  
Hairong Fang ◽  
Yuefa Fang ◽  
Haibo Qu
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Thermal Protection ◽  
Virtual Work ◽  
Kinematics And Dynamics ◽  
Main Body ◽  
Perfusion System ◽  
Dynamics Models ◽  
The Relationship

In order to solve the problem of the honeycombs perfusion in the thermal protection system of the spacecraft, this paper presents a novel parallel perfusion manipulator with one translational and two rotational (1T2R) degrees of freedom (DOFs), which can be used to construct a 5-DOF hybrid perfusion system for the perfusion of the honeycombs. The proposed 3PSS&PU parallel perfusion manipulator is mainly utilized as the main body of the hybrid perfusion system. The inverse kinematics and the Jacobian matrix of the proposed parallel manipulator are obtained. The analysis of kinematics performance for the proposed parallel manipulator including workspace, singularity, dexterity, and stiffness is conducted. Based on the virtual work principle and the link Jacobian matrix, the dynamic model of the parallel perfusion manipulator is carried out. With reference to dynamic equations, the relationship between the driving force and the mechanism parameters can be derived. In order to verify the correctness of the kinematics and dynamics model, the comparison of theoretical and simulation curves of the motion parameters related to the driving sliders is performed. Corresponding analyses illustrate that the proposed parallel perfusion possesses good kinematics performance and could satisfy the perfusion requirements of the honeycombs. The correctness of the established kinematics and dynamics models is proved, which has great significance for the experimental research of the perfusion system.

Mobility Analysis and Inverse Kinematics of a Novel 2R1T Parallel Manipulator

2011 ◽  
Author(s):  
Enrique Cuan-Urquizo ◽  
Ernesto Rodriguez-Leal ◽  
Jian S. Dai
Keyword(s):  
Software Package ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Mobility Analysis ◽  
Closure Equation ◽  
Inverse Kinematics Problem ◽  
Three Degrees Of Freedom

This paper presents a novel parallel robot constructed with a three-limb CUP architecture. The mobility of the mechanism is obtained using screw theory, showing that the platform has three degrees of freedom, namely: (i) translation along the Z axis; and (ii) two rotations. The position analysis investigates the loop-closure equation resulting in a unique solution for the inverse kinematics problem and the identification of parasitic motions of the platform. The paper validates the analytical solution with a numerical example, where the results are compared with motion simulations of the manipulator using a commercially available software package.

On the Design of a 4 Degrees-of-freedom Pick and Place Cable Suspended Parallel Manipulator

2017 ◽  
Vol 6 (4) ◽  
pp. 286
Author(s):  
F. J. Castillo-Garcia ◽  
P. Rea ◽  
A. Gonzalez-Rodriguez ◽  
E. Ottaviano
Keyword(s):  
Control Strategy ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Medium Size ◽  
Pd Controller ◽  
Positioning Accuracy ◽  
Pick And Place ◽  
And Control ◽  
4 Degrees Of Freedom

This paper proposes the design and control strategy for a four degrees-of-freedom spatial cable-suspended parallel robot for pick and place operations. Pick and place is a repetitive task requiring payload changes for the movement to pick-up the object, and the movement to the nal pose to release the manipulated object. In this paper, a new robust control strategy has been proposed, together with proper trajectories for the required operation. The control strategy consists on the system decoupling and linearization by means of a feedforward term and a cascade PD controller. The main advantage of the proposed solution is that its design can be scalable in size spanning from centimeters to meters with a relatively good positioning accuracy. Finally, simulations are reported to show the overall performances of the proposed con guration for pick and place operations with a medium size manipulator.

Closeness to singularity based on kinematics and dynamics and singularity avoidance of a planar parallel robot with kinematic redundancy

2021 ◽  
pp. 095440622110454
Author(s):  
Lanqing Hu ◽  
Haibo Gao ◽  
Haibo Qu ◽  
Zhen Liu
Keyword(s):  
Parallel Robot ◽  
Parallel Robots ◽  
Kinematics And Dynamics ◽  
Kinematic Redundancy ◽  
Singularity Avoidance ◽  
High Stiffness ◽  
Action Strategy ◽  
Payload Capacity ◽  
Planar Robot ◽  
Structural Simplicity

Planar parallel robots are appealing due to their structural simplicity, high stiffness, and large payload capacity. One major problem is that workspace and singularity of non-redundant parallel robots are unchangeable. Hence, when the desired path crossed with singularity or exceeded the workspace’s boundary, the robot is incapable of finishing the task. Another one is closeness to singularity. If one can know the distance between the end manipulator and singularity or workspace’s boundary, the robot will avoid lose control or breakdown. Compared with the traditional planar parallel robot, the planar parallel robot with kinematic redundancy possesses the advantages of avoiding singularity, expanding workspace by adjusting kinematic redundancy parameter. Therefore, the objective of this article is to present an offline action-strategy of a planar robot with kinematic redundancy to measure the closeness to singularity and avoid singularity. It includes two main parts: First, before the robot moves along the desired paths, the closeness to singularity was measured based on the performance of the kinematics and dynamics so that one can know where to pause the robot. Second, an algorithm is designed to previously find the proper kinematic redundancy parameters for changing singularity and workspace. Hence, the robot can smoothly move far from the singularity to finish all paths. The results indicate that the robot can adjust its configuration to well realize the goal by the offline action-strategy.

Kinematics and dynamics of a parallel manipulator with a new architecture

Robotica ◽  
2000 ◽  
Vol 18 (5) ◽  
pp. 535-543 ◽  
Author(s):  
A. Fattah ◽  
G. Kasaei
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Orthogonal Complement ◽  
Flight Simulator ◽  
Kinematics And Dynamics ◽  
Dynamical Equations ◽  
Euler’S Equations ◽  
Euler's Equations ◽  
Moving Platform

In this paper, the kinematics and dynamics of a parallel manipulator with a new architecture supposed to be used as a moving mechanism in a flight simulator project is studied. This manipulator with three independent degrees of freedom consists of a moving platform connected to a based platform by means of three legs. Kinematic solutions for this manipulator at position, velocity and acceleration levels are obtained. Moreover, the dynamical equations of motion of the manipulator are determined using Newton-Euler's equations and applying the natural orthogonal complement (NOC) method. Using kinematics and dynamics and also performing simulation for different manoeuvres of moving platform, the motion and the actuator forces of the legs are obtained.

scholarly journals Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot

2012 ◽  
Author(s):  
Stéphane Caro ◽  
Philippe Wenger ◽  
Damien Chablat
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Parallel Robot ◽  
Joint Space ◽  
Change Of Variables ◽  
Prismatic Joints ◽  
Moving Platform

This paper deals with the non-singular assembly mode changing of a six degrees of freedom parallel manipulator. The manipulator is composed of three identical limbs and one moving platform. Each limb is composed of three prismatic joints of directions orthogonal to each other and one spherical joint. The first two prismatic joints of each limb are actuated. The planes normal to the directions of the first two prismatic joints of each limb are orthogonal to each other. It appears that the parallel singularities of the manipulator depend only on the orientation of its moving platform. Moreover, the manipulator turns to have two aspects, namely, two maximal singularity free domains without any singular configuration, in its orientation workspace. As the manipulator can get up to eight solutions to its direct kinematic model, several assembly modes can be connected by non-singular trajectories. It is noteworthy that the images of those trajectories in the joint space of the manipulator encircle one or several cusp point(s). This property can be depicted in a three dimensional space because the singularities depend only on the orientation of the moving-platform and the mapping between the orientation parameters of the manipulator and three joint variables can be obtained with a simple change of variables. Finally to the best of the authors’ knowledge, this is the first spatial parallel manipulator for which non-singular assembly mode changing trajectories have been found and shown.

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Soheil Zarkandi
Keyword(s):  
Power Consumption ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Pareto Front ◽  
Essential Role ◽  
Power Optimization ◽  
Optimal Designs ◽  
Flight Simulator ◽  
Lagrange Method

Abstract Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Hamed Khakpour ◽  
Lionel Birglen ◽  
Souheil-Antoine Tahan
Keyword(s):  
Kinematic Analysis ◽  
Design Methodology ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Cable Robot ◽  
Proper Design ◽  
Two Indices ◽  
Three Degrees Of Freedom ◽  
Cable Robots

In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators.

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