Design and prototyping of new 4, 5 and 6 degrees of freedom parallel manipulators based on the copying properties of the pantograph linkage (original) (raw)

On the Design of PAMINSA: A New Class of Parallel Manipulators With High-Load Carrying Capacity

Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 2007

This paper deals with the new results concerning the topologically decoupled parallel manipulators called PAMINSA. The conceptual design of these manipulators, in which the copying properties of pantograph linkage are used, allows obtaining a large payload capability. A newly synthesized fully decoupled 3 degrees of freedom manipulator is discussed and a systematic approach for motion generation of input point of each limb is presented. It is shown that the conditions of complete static balancing of limbs are not effective in the case of dynamic mode of operation. This is approved by numerical simulations and experiments. A significant contribution of this paper is also the experimental validation of the suggested design concept. It is shown experimentally for the first time that the static loads on the rotating actuators, which displace the platform in the horizontal plane, are cancelled.

On the analysis of a new spatial three-degrees-of-freedom parallel manipulator

IEEE Transactions on Automation Science and Engineering, 2001

In this paper, a new spatial three-degrees-of-freedom (two degrees of translational freedom and one degree of rotational freedom) parallel manipulator is proposed. The parallel manipulator consists of a base plate, a movable platform, and three connecting legs. The inverse and forward kinematics problems are described in closed forms and the velocity equation of the new parallel manipulator is given. Three kinds of singularities are also presented. The workspace for the manipulator is analyzed systematically; in particular, indices to evaluate the mobility (in this paper, mobility means rotational capability) of the moving platform of the manipulator will be defined and discussed in detail. Finally, a topology architecture of the manipulator is introduced. The parallel manipulator has wide application in the fields of industrial robots, simulators, micromanipulators, and parallel machine tools.

PAMINSA: a New Family of Decoupled Parallel Manipulators

HAL (Le Centre pour la Communication Scientifique Directe), 2009

In this paper, a new family of parallel manipulators called PAMINSA is presented. The particularity of these manipulators is the decoupling of the displacements of the platform in the horizontal plane from its translation along the vertical axis. Such a decoupling allows the cancellation of the loads of gravity on the actuators which displace the platform in the horizontal plane. Parallel mechanisms from 3 to 6 degrees of freedom based on this property are systematized and the advantages of each are presented. The classification, singularity analysis and input torques optimization are then discussed. A prototype of the proposed manipulator with four degrees of freedom and experimental validations of the suggested concept are also presented. All obtained numerical simulations are approved by experimental tests.

A new architecture of planar three-degree-of-freedom parallel manipulator

Robotics and Automation, …, 1996

In this paper a new architecture of a planar three-degree-of-freedom (3-dof) parallel manipulator is presented. In the proposed mechanism, the prismatic actuators are fixed to the base which leads to a reduction of the inertia of the moving links and hence makes it attractive, particularly when high speeds are required and electric actuation is considered. After introducing the mechanism, a kinematic analysis is reported. Then, velocity and acceleration equations are derived. Based on the geometry of the manipulator a ...

PAMINSA: A new family of partially decoupled parallel manipulators

Mechanism and Machine Theory, 2009

Parallel Manipulators Applications—A Survey

Modern Mechanical Engineering, 2012

This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the base by several independent kinematic chains. The classification of various parallel manipulators is presented herewith. The prime focus of the paper is to realize the parallel manipulators applications for industry, space, medical science or commercial usage by orienting manipulator in the space at the high speed with a desired accuracy.

A Novel Parallel Manipulator Architecture for Manufacturing Applications

Multibody System Dynamics, 2003

This paper proposes a new type of a six-degree-of-freedom parallelmanipulator with six prismatic legs for manufacturing applications. Eachleg is connected to a base by universal and prismatic joints, and to amoving platform by spherical joints. Based on the complete kinematicsmodel developed in this paper, analytical expressions are derived forthe displacement, velocity and accelerations. The dynamic equations ofthe manipulator are obtained

Kinematics, dynamics and construction of a planarly actuated parallel robot

Robotics and Computer-Integrated Manufacturing, 1998

Kinematic and dynamic analysis of a parallel robot consisting of three planarly actuated links, 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 than the commonly used parallel robots make this high performance-to-simplicity ratio robot very attractive. Experimental model verifies the unique combination of large work volume and high accuracy of this robot.

Kinematic and Dexterity Analysis of a 3-DOF Parallel Manipulator

A new three Degree Of Freedom (3-DOF) parallel manipulator has been proposed in this study. Because the parallel manipulator has three Degree Of Freedom (DOF), one translation degree of freedom and two rotational degrees of freedom, it has received considerable attention from both researchers and manufacturers over the past years. The inverse kinematic and Jacobain matrix were derived. The dexterity of the parallel manipulator is presented. The key issue of how the kinematic performance in term of dexterity varies with differences in the structural parameters of the parallel manipulator is investigated. The simulation results, using MATLAB, testify the validity of the analytic model and illustrate the structural parameters have direct effect upon dexterity characteristic of the 3-DOF parallel manipulator.

296 Novel Design of a 4 DOF Parallel Robot

regional-robotics.org

This work illustrates the novel design of a unique 4 degree-of -freedom parallel robot with 3 DOF in translation and one DOF in rotation. The forward and inverse kinematics will be detailed including the analysis of the singularities of the mechanism. The extensive simulation of the system is proposed. The design methodology shows the advantage over the other conventional method in less complexity of the direct kinematics solutions which can be extended to 5 or 6 DOF parallel robot. The purpose configuration can be applied to the rapid prototype application and also the 5-axis milling machine for advance manufacturing application.

Design and prototyping of new 4, 5 and 6 degrees of freedom parallel manipulators based on the copying properties of the pantograph linkage (original) (raw)

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