Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems

2001 ◽  
Vol 13 (5) ◽  
pp. 488-496 ◽  
Author(s):  
Noriaki Ando ◽  
◽  
Masahiro Ohta ◽  
Kohei Gonda ◽  
Hideki Hashimoto
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Parallel Mechanisms ◽  
Dual Systems ◽  
Position Accuracy ◽  
Control Scheme ◽  
Workspace Analysis ◽  
Manipulator Control ◽  
Vr Simulator

This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A parallel manipulator motion is restricted by 3 factors: mechanical limits of the passive joints, collision between links and actuators limitations. Results of the numerical workspace analysis considering the above factors are shown. We are proposing the use of dual manipulators for implementing improved real manipulation systems. The first kinematics and workspace analysis of dual systems using the VR simulator are also shown.

Kinematics and Workspace Analysis of 3-RPP Parallel Mechanism

2013 ◽  
Vol 456 ◽  
pp. 146-150
Author(s):  
Zhi Jiang Xie ◽  
Jun Zhang ◽  
Xiao Bo Liu
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Parallel Mechanisms ◽  
Vector Method ◽  
Workspace Analysis ◽  
Inverse Solutions ◽  
Three Degrees Of Freedom

This paper designed a kind of parallel mechanism with three degrees of freedom, the freedom and movement types of the robot are analyzed in detail, the parallel mechanisms Kinematics positive and inverse solutions are derived through using the vector method. And at last its workspace is analyzed and studied systematically.

Structure Synthesis of Two-Translation and Two-Rotation Parallel Mechanisms Based on the POC-Based Approach

2011 ◽  
Vol 52-54 ◽  
pp. 759-767
Author(s):  
Yang Yan ◽  
Yu Feng Luo ◽  
Zhi Xin Shi ◽  
Wei Ke Yao ◽  
Ting Li Yang
Keyword(s):  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Parallel Mechanisms ◽  
Structure Synthesis ◽  
Position And Orientation ◽  
Detailed Application

A systematically approach for structure synthesis of parallel manipulator is based on position and orientation characteristic (POC) matrix, by which a detailed application is focused on the synthesis of 2-translation and 2-rotation parallel mechanisms. The result synthesized involves not only part known mechanisms, but also some novel mechanisms. This paper synthesizes SOC branches which include 2-translation and 2-rotation output, classifies synthesized parallel mechanisms based on SOC branches types, analyses and research this kind parallel mechanism.

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism for Rehabilitation

2007 ◽  
Author(s):  
Jody A. Saglia ◽  
Jian S. Dai
Keyword(s):  
Control System ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Control System Design ◽  
Ankle Rehabilitation ◽  
Redundantly Actuated ◽  
Moving Platform

This paper presents the geometry and the kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as the beginning of a control system design process. First the geometry of the parallel mechanism is described, secondly the equations for the inverse and the forward kinematics are obtained, then the forward kinematics is analyzed in order to define all the possible configurations of the moving platform. Finally the Jacobian matrix of the rig is obtained by differentiating the position equations and the singularities are investigated, comparing the non-redundant and redundant type of mechanism.

On the kinematics of a new parallel mechanism with Schoenflies motion

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2056-2070 ◽  
Author(s):  
Po-Chih Lee ◽  
Jyh-Jone Lee
Keyword(s):  
Closed Form ◽  
Condition Number ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Matrix Algebra ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Pick And Place

SUMMARYThis paper investigates the kinematics of one new isoconstrained parallel manipulator with Schoenflies motion. This new manipulator has four degrees of freedom and two identical limbs, each having the topology of Cylindrical–Revolute–Prismatic–Helical (C–R–P–H). The kinematic equations are derived in closed-form using matrix algebra. The Jacobian matrix is then established and the singularities of the robot are investigated. The reachable workspaces and condition number of the manipulator are further studied. From the kinematic analysis, it can be shown that the manipulator is simple not only for its construction but also for its control. It is hoped that the results of the evaluation of the two-limb parallel mechanism can be useful for possible applications in industry where a pick-and-place motion is required.

scholarly journals A Numerical Approach for 3 PRS Parallel Manipulator

2018 ◽  
Vol 7 (4.10) ◽  
pp. 90 ◽  
Author(s):  
Arockia Selvakumar A ◽  
. .
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Numerical Approach ◽  
Inverse Kinematic ◽  
Position Vector ◽  
Vector Method ◽  
Spherical Parallel Mechanism ◽  
Forward Kinematic

This paper presents a numerical approach on kinematic analysis of 3-DOF parallel manipulator (PM). The proposed mechanisms constitute of PRS (Prismatic-Revolute-Spherical) parallel mechanism with two rotations and one translation. The forward and inverse kinematic equations of the PM are derived by position vector method. A total of 48 solutions are obtained for the forward kinematic equations using MATLAB. 

Study of the effects of link tolerances to estimate mechanical errors in 3-RRS parallel manipulator

2021 ◽  
pp. 095440622110214
Author(s):  
Anshul Jain ◽  
HP Jawale
Keyword(s):  
Error Estimation ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Design Stage ◽  
Tolerance Design ◽  
Cad Model ◽  
Error Minimization ◽  
Workspace Analysis ◽  
Movable Platform ◽  
Orientation Workspace

This paper presents the mechanical error estimation under the effects of link tolerances in a 3-degree-of-freedom (DoF) 3-RRS Spatial Parallel Manipulator (SPM). Position level kinematic analysis and workspace analysis in the form of reachable and orientation workspace are carried out initially. Then, the effect of link tolerances on individual link is studied at the position of mid-point and orientation of the movable platform. The corresponding mechanical errors are estimated. The effect of link tolerance variation is studied to know the pattern of mechanical error. The 3-D CAD model in SolidWorks is used to validate the results. The conclusions are drawn that lead to error minimization at the tolerance design stage.

Design and workspace analysis of a 3-degree-of-freedom parallel swivel head with large tilting capacity

2015 ◽  
Vol 231 (10) ◽  
pp. 1838-1849 ◽  
Author(s):  
Jiangzhen Guo ◽  
Dan Wang ◽  
Rui Fan ◽  
Wuyi Chen
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Spherical Joint ◽  
Hybrid Machine Tool ◽  
Tilting Angle ◽  
Workspace Analysis ◽  
Hybrid Machine ◽  
Orientation Workspace

Traditional parallel mechanisms are usually characterized by small tilting capability. To overcome this problem, a 3-degree-of-freedom parallel swivel head with large tilting capacity is proposed in this article. The proposed parallel swivel head, which is structurally developed from a conventional 3-PRS parallel mechanism, can achieve a large tilting capability by means of structural improvements. First, a modified spherical joint with a maximum tilting angle of ±120° is devised to diminish the physical restrictions on the orientation workspace. Second, a UPS typed leg is introduced for the sake of singularity elimination. The superiority of the proposed parallel swivel head is theoretically proved by investigations of singularity-free orientation workspace and then is experimentally validated using a prototype fabricated. The theoretical and experimental results illustrate that the proposed parallel swivel head has a large tilting capacity and thus can be used as swivel head for a hybrid machine tool which is designed to be capable of realizing both horizontal and vertical machining.

Workspace Analysis of New Type Parallel Mechanism with Serial Input

2011 ◽  
Vol 308-310 ◽  
pp. 2114-2119 ◽  
Author(s):  
Peng Lin Jing ◽  
Zhi You Feng
Keyword(s):  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Parallel Mechanisms ◽  
Constraint Force ◽  
Workspace Analysis ◽  
Inverse Solutions ◽  
New Type ◽  
Parallel Link ◽  
Branched Chain ◽  
The Impact

A new 4 DOF parallel mechanism with serial input limb is presented ——2UPS-RPU parallel mechanism, the limb with serial input is a less contrained active branched-chain,the number of its DOF is less than six,that is to say,the limbs not only transmitting driving force but also constraint force at the same time.Compared with traditional parallel mechanisms,the mechanism with serial input has greater number of DOF than the number of limbs and don’t lose the property of parallel mechanism. The inverse solutions to positions of the mechanism are modeled by inverse kinematic analysis in this paper, then the constraint conditions are established according to factors influencing the workspace of parallel mechanism,such as the limits of the hinge angle and the parallel link length.The workspace of 2UPS-RPU parallel mechanism can be obtained by using exetreme-boundary numerical algorithm in Matlab,the volume of workspace can be quantified by means of computation,and analyzing the impact of rod length ,circumradius of moving and fixed platform and motion pair rotation angle on the workspace.

Design and Kinematic Analysis of Two Novel 1-Translation and 2-Rotation Parallel Mechanism

2010 ◽  
Vol 33 ◽  
pp. 513-517
Author(s):  
Xiu Qin Huang ◽  
Hui Ping Shen ◽  
Xiu Mei Xin
Keyword(s):  
Structural Design ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Analytic Solutions ◽  
The Novel ◽  
Parallel Mechanisms ◽  
Input And Output ◽  
Pros And Cons ◽  
Solid Foundation ◽  
Input Variables

The two novel 1-translation and 2-rotation parallel mechanisms are investigated. An analytic solutions corresponding to the forward and inverse position are obtained. The influences by the three input variables on the three output variables are analyzed carefully and the valid working ranges of input and output variables are given. The pros and cons are addressed by comparing with the two parallel mechanisms, and the optimal one of the two mechanisms is produced.The work of the paper provided a solid foundation for mechanical structural design and real-time controlling of the novel parallel mechanism.

A Compliant Rolling Contact Joint and Its Application in a 3-DOF Planar Parallel Mechanism With Kinematic Analysis

2004 ◽  
Author(s):  
Ame´lie Jeanneau ◽  
Just Herder ◽  
Thierry Laliberte´ ◽  
Cle´ment Gosselin
Keyword(s):  
Rapid Prototyping ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Compliant Mechanisms ◽  
Inverse Kinematic ◽  
Rolling Contact ◽  
Inverse Kinematic Problem ◽  
Workspace Analysis ◽  
New Type ◽  
Necessary Constraints

This paper first presents the concept and the fabrication of a new type of compliant rolling joint which combines the advantages of compliant mechanisms with those of rolling link mechanisms. In this joint, flexible bands create the necessary constraints to enforce a rolling movement between two links. Then, the rapid prototyping techniques used for the compliant rolling joint fabrication are described. The kinematics of one application of this joint in a 3-DOF planar parallel mechanism are then presented. A semigraphical method was used to find the solutions to the inverse kinematic problem. Finally, the workspace analysis and the velocity equations are presented.

Sign in / Sign up

Export Citation Format

Share Document