Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot

This thesis presents a new method for kinematic modeling and analysis of a six degree-of-freedom parallel robot enclosed by a number of sliding panels, called panel enclosed mechanism. This type of robots has been seen in applications where mechanisms are covered by changeable surfaces, such as aircraft morphing wings made of variable geometry truss manipulators. Based on the traditional parallel robot kinematics, the proposed method is developed to model the motions of a multiple segmented telescopic rigid panels that are attached to the moving branches of the mechanism. Through this modeling and analysis, a collision detection algorithm is proposed to analyze the collisions that could occur between adjacent sliding panels during motion over the workspace of the mechanism. This algorithm will help to design a set of permissible panels used to enclose the mechanism free of collision. A number of cases are simulated to show the effectiveness of the proposed method. In addition, an extra link is added to provide an additional degree-of-freedom. Various search methods are employed to evaluate optimal orientation angles to minimize collisions of adjacent panels. Finally, the effect of increased mobility is analyzed and validated as a potential solution to reduce panel collisions.

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A New Design of a 6-DOF Parallel Robot

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1990.p0308 ◽

1990 ◽

Vol 2 (4) ◽

pp. 308-315 ◽

Cited By ~ 61

Author(s):

François Pierrot ◽

◽

Masaru Uchiyama ◽

Pierre Dauchez ◽

Alain Fournier ◽

...

Keyword(s):

Inverse Kinematics ◽

Dynamic Capabilities ◽

Inverse Dynamics ◽

Parallel Robot ◽

Degree Of Freedom ◽

Mechanical Structure ◽

Delta Robot ◽

Good Set ◽

Six Degree Of Freedom ◽

Three Degree Of Freedom

This paper presents a six-degree-of-freedom parallel robot which has been recently designed. The design is based on a three-degree-of-freedom parallel robot called DELTA which was designed in Switzerland by EPFL. First, we give equations corresponding to different models of the DELTA robot: forward and inverse kinematics as well as inverse dynamics. An important feature of our method in deriving these models is to use a “good” set of parameters in order to simplify the equations. Then, in an attempt to extend the principle of the DELTA robot mechanical structure to a six-degree-offreedom parallel robot, we propose a new design called HEXA. Equations for kinematics and dynamics of the HEXA robot are presented and show that it has the same dynamic capabilities as the DELTA robot because, like the DELTA robot, it can be built with light-weight materials and easily modeled. Finally, we discuss optimization of the HEXA robot mechanical structure.

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Kinematic Modelling of a Panel Enclosed Mechanism

10.32920/ryerson.14649342.v1 ◽

2021 ◽

Author(s):

Aaron Yu

Keyword(s):

Parallel Robot ◽

Detection Algorithm ◽

Degree Of Freedom ◽

Robot Kinematics ◽

Kinematic Modeling ◽

Modeling And Analysis ◽

Additional Degree ◽

Kinematic Modelling ◽

Six Degree Of Freedom ◽

Variable Geometry Truss

This thesis presents a new method for kinematic modeling and analysis of a six degree-of-freedom parallel robot enclosed by a number of sliding panels, called panel enclosed mechanism. This type of robots has been seen in applications where mechanisms are covered by changeable surfaces, such as aircraft morphing wings made of variable geometry truss manipulators. Based on the traditional parallel robot kinematics, the proposed method is developed to model the motions of a multiple segmented telescopic rigid panels that are attached to the moving branches of the mechanism. Through this modeling and analysis, a collision detection algorithm is proposed to analyze the collisions that could occur between adjacent sliding panels during motion over the workspace of the mechanism. This algorithm will help to design a set of permissible panels used to enclose the mechanism free of collision. A number of cases are simulated to show the effectiveness of the proposed method. In addition, an extra link is added to provide an additional degree-of-freedom. Various search methods are employed to evaluate optimal orientation angles to minimize collisions of adjacent panels. Finally, the effect of increased mobility is analyzed and validated as a potential solution to reduce panel collisions.

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Genetic Algorithm Optimization of a Six Degree of Freedom Micro Parallel Robot

PAMM ◽

10.1002/pamm.200810801 ◽

2008 ◽

Vol 8 (1) ◽

pp. 10801-10802

Author(s):

S.-D. Stan ◽

V. Mătieş ◽

R. Bălan

Keyword(s):

Genetic Algorithm ◽

Parallel Robot ◽

Degree Of Freedom ◽

Algorithm Optimization ◽

Genetic Algorithm Optimization ◽

Six Degree Of Freedom

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

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.933.390 ◽

2014 ◽

Vol 933 ◽

pp. 390-394 ◽

Cited By ~ 2

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.

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