A Novel Three-DOF 3-RRRRR Parallel Platform Mechanism and Its Position Analysis

2005 ◽  
Author(s):  
Shihua Li ◽  
Zhen Huang ◽  
Jianguang Wu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Initial Configuration ◽  
Parallel Platform ◽  
Moving Platform ◽  
General Configuration ◽  
Novel Model ◽  
Three Degrees Of Freedom

In order to enrich deficient-DOF parallel mechanism models, a novel model of a 3-DOF platform manipulator is presented and establish its inverse kinematics equation. Here, studies instantaneous motions of 3-RRRRR parallel manipulator at initial configuration and general configuration. Find: it has three degrees of freedom at initial configuration and after translated along the X, Y, Z axis. Secondly, the relation is given between every active input (θ1) and moving platform position by using D-H means, the solution is developed for inverse kinematics, numerical example for the position kinematic is presented, the figure of workspace along the Z-axis is drawn finally. The mechanism can be applied to jiggle mechanism.

Orientation Workspace Analysis of a Novel 3SPS+1PS Symmetrical Parallel Manipulator Based on Unit Quaternion

2011 ◽  
Vol 201-203 ◽  
pp. 1849-1853
Author(s):  
Jing Li Yu ◽  
Gang Cheng ◽  
Shuai Zhang ◽  
De Kun Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Unit Quaternion ◽  
Structure Characteristics ◽  
Workspace Analysis ◽  
Moving Platform ◽  
Position And Orientation ◽  
4 Degrees Of Freedom ◽  
Orientation Workspace

For a novel 3SPS+1PS parallel manipulator with 4 degrees of freedom including three rotations and one translation, the formulae for solving the inverse kinematics equations are derived based on quaternion method. Unit quaternion is used to represent the position and orientation of moving platform, and the singularities caused by Euler angles are avoided. Combining the topological structure characteristics of the parallel manipulator, it only has three rotations when its moving platform is at a given translation position. Based on the inverse position/pose equations and the all the constraints of the parallel manipulator, the discrete algorithm for the orientation workspaces of 3SPS+1PS parallel manipulator where the moving platform is at some different given translation positions are designed. The research builds the theoretical basis for optimizing the orientation workspace with given position.

Kinematic Analysis of a New 3-DOF Translational Parallel Manipulator

2005 ◽  
Author(s):  
Yangmin Li ◽  
Qingsong Xu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Industrial Applications ◽  
Forward Kinematics ◽  
Physical Constraints ◽  
Mechanical Joints ◽  
Reachable Workspace ◽  
Three Degrees Of Freedom

A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.

A New 2T-2R Hybrid Parallel Manipulator

2011 ◽  
Vol 328-330 ◽  
pp. 1743-1746
Author(s):  
Wen Jia Chen ◽  
Lan Lei Zhao
Keyword(s):  
Computer Technology ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Virtual Manufacturing ◽  
Forward Kinematics ◽  
Nc Machine Tool ◽  
Nc Machine ◽  
Movable Platform ◽  
Parallel Platform ◽  
Three Degrees Of Freedom

Though computer technology has brought about virtual manufacturing to expedite design and analysis through simulation and visualization, machines remain essential, as ultimately products need to be made. There is a need for equipment providing more than three degrees of freedom (DOF) arranged in parallel and based on simpler arrangements than 6-DOF arrangements in application. This paper presents a new 4-DOF hybrid parallel platform manipulator with fixed-leg lengths and base mounted prismatic actuators. The movable platform of the manipulator can translate along two directions and rotate around two axes respectively (2T-2R). The kinematics model is formulated, which describes the inverse and forward kinematics transformation. It is very easy to develop a 5-axis NC machine-tool which is of large-workspace based on the 2T-2R, 4-DOF parallel mechanism presented in this paper.

The Nonexistence of Three Degrees of Freedom Rotational Fully Decoupled Parallel Mechanism

2013 ◽  
Vol 284-287 ◽  
pp. 1951-1955 ◽  
Author(s):  
Yu Lei Hou ◽  
Da Xing Zeng ◽  
Yan Bin Duan ◽  
Yong Sheng Zhao
Keyword(s):  
Control System ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Structure Design ◽  
Theoretical Significance ◽  
Moving Platform ◽  
Configuration Synthesis ◽  
Three Degrees Of Freedom ◽  
Serial Mechanism

The existence of coupling makes the parallel mechanism possess some special advantages over the serial mechanism, while it is just the coupling that brings about the parallel mechanism some difficulties in kinematics and dynamic analysis, the development of control system, and the trajectory planning. Therefore the research on the decoupled parallel mechanism becomes one of the hot of the mechanism fields. While whether the parallel mechanism can realize decouple is the premise for synthesis and analysis of the parallel mechanism. Based on screw theory, the existence of the three degrees of freedom (3-DoF) rotational fully-decoupled parallel mechanism is distinguished. Then taking the 6-PUS/UPU parallel mechanism as example, the rotation angles of the moving platform are measured, which is verified the impossibility of the 3-DoF rotation decoupling. The contents of this paper should possess theoretical significance for the innovative configuration synthesis and structure design of rotational decoupled parallel mechanism.

scholarly journals Some aspects of topology and kinematics of a 3DOF translational parallel mechanism

2014 ◽  
Vol 19 (1) ◽  
pp. 5-15 ◽  
Author(s):  
J. Bałchanowski
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Analytical Procedure ◽  
Method Of Determination ◽  
Fixed Orientation ◽  
Three Degrees Of Freedom ◽  
Selection Of

Abstract The paper presents elements of the topology, geometry and the kinematic analysis of a translational parallel mechanism with three degrees of freedom. In such mechanisms the selection of a proper structure and geometry ensures that the driven link maintains a fixed orientation relative to the base. The method of determination of the configuration of mechanisms using contour vector notation was elaborated in the paper. The equations for the analysis of the direct and inverse kinematics task are determined. An analytical procedure for determining the system’s singular positions is presented and illustrated with examples

Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Louis-Thomas Schreiber ◽  
Clément Gosselin
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Redundancy ◽  
Spatial Parallel Mechanism ◽  
Compressive Loads ◽  
Moving Platform

This paper presents methods to exploit the redundancy of a kinematically redundant spatial parallel mechanism with three redundant DOFs. The architecture of the mechanism is similar to the well-known Gough–Stewart (GS) platform and it retains its advantages, i.e., the members connecting the base to the moving platform are only subjected to tensile/compressive loads. The kinematic redundancy is exploited to avoid singularities and extend the rotational workspace. The architecture is described and the associated kinematic relationships are presented. Solutions for the inverse kinematics are given, as well as strategies to take into account the limitations of the mechanism such as mechanical interferences and velocity limits of the actuators while controlling the redundant degrees-of-freedom.

Analysis and Simulation of a Parallel Platform with 2R-1T

2012 ◽  
Vol 562-564 ◽  
pp. 1456-1459
Author(s):  
Qi Zhi Yang ◽  
Peng Fei Zi ◽  
Long Chen ◽  
Jia Qi Zhuang
Keyword(s):  
Theoretical Calculation ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Chains ◽  
Calculation Results ◽  
Parallel Platform ◽  
Moving Platform ◽  
Branched Chain ◽  
Changes Over Time ◽  
Spatial Degrees Of Freedom

It is described that a parallel platform with three spatial degrees of freedom; the platform is built up by parallel combination of three symmetrical (SPS) and a branched-chain (PU). It is gotten the freedom of the mechanism and the theory expression of inverse kinematics by theoretical calculation. The mechanism was modeled by Pro/E, and the model is imported with Mech/Pro to ADAMS/View for simulation. The trajectory of three kinematic chains that changes over time through computer simulation, which are got by exerting force on the moving platform, is compared with the theoretical calculation results gotten through MATLAB. The results prove that the curve of position is identical, and it testifies the correctness of the movement of the platform.

Motion Plan of a Parallel Kinematic Machine Based on Stiffness Control

2010 ◽  
Author(s):  
Zhongzhe Chi ◽  
Dan Zhang ◽  
Qiaokang Liang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Tool Path ◽  
Parallel Kinematic Machine ◽  
Tool Path Planning ◽  
Parallel Kinematic ◽  
Stiffness Control ◽  
Three Degrees Of Freedom

This paper proposes a design for a machine tool based on a parallel kinematic manipulator with three degrees of freedom, including rotations about x and y axis and translation along z axe. Based on the investigated displacement and inverse kinematics, the system stiffness of the parallel manipulator is conducted. Then in order to observe the highest system stiffness single and multi objective optimizations are performed in terms of rotation angles about x and y axis and translation displacement along z axe. Finally, a case study of tool path planning is presented to demonstrate the application of stiffness mapping.

Kinematic Analysis of a Three-DOF Parallel Mechanism for Telescope Applications

1997 ◽  
Author(s):  
J. A. Carretero ◽  
M. Nahon ◽  
B. Buckham ◽  
C. M. Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Constraint Equations ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom

Abstract This paper presents a kinematic analysis of a three-degree-of-freedom parallel mechanism intended for use as a telescope mirror focussing device. The construction of the mechanism is first described and its forward and inverse kinematics solutions are derived. Because the mechanism has only three degrees of freedom, constraint equations must be generated to describe the inter-relationship between the six Cartesian coordinates which describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. The stiffness and dexterity properties of the mechanism are then determined based on this Jacobian matrix. The mechanism is shown to exhibit desirable properties in the region of its workspace of interest in the telescope focussing application.

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.

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