scholarly journals Performance Evaluation of Redundant Parallel Manipulators Assimilating Motion/Force Transmissibility

10.5772/50904 ◽  
2011 ◽  
Vol 8 (5) ◽  
pp. 66 ◽  
Author(s):  
Fugui Xie ◽  
Xin-Jun Liu ◽  
Jinsong Wang
Keyword(s):  
Performance Evaluation ◽  
Parallel Manipulators ◽  
Important Class ◽  
Optimization Strategy ◽  
Kinematic Redundancy ◽  
Inverse Solutions ◽  
Force Transmissibility ◽  
Parallel Kinematic ◽  
And Performance

Performance evaluation is one of the most important issues in the field of parallel kinematic manipulators (PKMs). As a very important class of PKMs, the redundant PKMs have been studied intensively. However, the performance evaluation of this type of PKMs is still unresolved and a challenging endeavor. In this paper, indices that assimilate motion/force transmissibility are proposed to evaluate the performance of redundant PKMs. To illustrate the application of these indices, three PKMs with different kinds of redundancies are taken as examples, and performance atlases are plotted based on the definitions of the indices. Transmissibility comparisons between redundant PKMs and the corresponding non-redundant ones are carried out. To determine the inverse solutions of the PKMs with kinematic redundancy, an optimization strategy is presented, and the rationality of this method is demonstrated. The indices introduced here can be applied to the performance evaluation of redundant parallel manipulators.

Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration

2020 ◽  
Author(s):  
Nathan A. Jensen ◽  
Carl A. Nelson
Keyword(s):  
Performance Evaluation ◽  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
And Performance ◽  
Workspace Optimization ◽  
Optimization And Performance

Abstract Underactuated parallel manipulators that achieve 6 DOF via multiple controllable degrees of freedom per leg are often pursued and reported due to their large workspaces. This benefit comes at a cost to the manipulator’s performance, however. Such manipulators must then be evaluated in order to characterize their kinematics in terms of position and motion. This paper establishes a pair of inverse kinematic solutions for a previously proposed and prototyped 3-leg, 6-DOF parallel robot. These solutions are then used to define the robot’s workspace with experimental validation and to optimize the robot’s geometry for maximum workspace volume. The linear components of the Jacobian are then defined, allowing for analysis of the manipulability of the robot. The full Jacobian is also defined, and singularities are examined throughout the workspace of the robot.

Dimensional Synthesis and Performance Evaluation of Four Translational Parallel Manipulators

Robotica ◽  
2020 ◽  
pp. 1-17 ◽  
Author(s):  
I. Ben Hamida ◽  
M. A. Laribi ◽  
A. Mlika ◽  
L. Romdhane ◽  
S. Zeghloul
Keyword(s):  
Genetic Algorithm ◽  
Performance Evaluation ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Dimensional Synthesis ◽  
Optimum Selection ◽  
Kinematic Performance ◽  
And Performance ◽  
Pareto Fronts ◽  
Selection Of

SUMMARY The optimum selection of a structure for a given application is a capital phase in typological synthesis of parallel robots. To help in this selection, this paper presents a performance evaluation of four translational parallel robots: Delta, 3-UPU, Romdhane-Affi-Fayet, and Tri-pyramid (TP). The problem is set as a multiobjective optimization using genetic algorithm methods, which uses kinematic criteria, that is, global dexterity and compactness, to ensure a prescribed workspace. The results are presented as Pareto fronts, which are used to compare the performances of the aforementioned structures. The obtained results show that the TP robot has the best kinematic performance, whereas the 3-UPU robot is the most compact for a given prescribed workspace.

Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
Chao Wu ◽  
Xin-Jun Liu ◽  
Liping Wang ◽  
Jinsong Wang
Keyword(s):  
Performance Evaluation ◽  
Optimal Design ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Dimensional Synthesis ◽  
Force Transmission ◽  
Minimally Invasive Surgical ◽  
Pointing Device ◽  
Force Transmissibility

The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal angular parameters based on performance charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified.

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