Kinematic analysis and design of a 3-DOF translational parallel robot (original) (raw)
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Kinematics and Dexterity Analysis for a Novel 3-DOF Translational Parallel Manipulator
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005
A new three degrees of freedom translational parallel manipulator (TPM) with fixed actuators, called a general 3-PRC TPM, is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singularity problems are investigated afterwards, which can be applied to a general 3-PRC TPM regardless of actuators arrangement. With the variation on actuators layout angle, the reachable workspace of the manipulator is generated and compared. Especially, it is illustrated that the manipulator in principle possesses a uniform workspace with a constant hexagon shape cross section. Furthermore, the dexterity characteristics is investigated in the global sense. Simulation results show that different specific tasks should be considered when the actuators layout angles of a general 3-PRC TPM are designed.
Kinematics and Workspace Analysis of a Novel 3-DOF Spatial Parallel Robot
Presented in ICEE 2011 - The 19th Iranian Conference on Electrical Engineering In this study, kinematics design and workspace analysis of a novel spatial parallel mechanism is elaborated. The proposed mechanism is to be exploited in a hybrid serial parallel mobile robot to fulfill stable motion of the robotic system when handling heavy objects by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to obtain an appropriate maneuverability and fulfill the tipover stability of a hybrid serial-parallel mobile robotic system after grasping heavy objects. The proposed mechanism is made of three legs while each leg has one active degree of freedom (DOF) so that the mechanism contains 3-DOF. In order to investigate this novel parallel mechanism, inverse and forward kinematics model is developed and verified using two maneuvers. Next, the workspace of the manipulator is demonstrated symbolically, besides a numerical analysis will be studied. Finally, the advantages of exploiting such a parallel manipulator are discussed in order to be used in a hybrid serial-parallel mobile robotic system.
Chinese Journal of Mechanical Engineering, 2015
The development of new robot structures, in particular of parallel kinematic machines(PKM), is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than six degrees of freedom(DOF). However, an overall comparison and evaluation of these structures is missing. In order to compare symmetrical PKM with three translational DOF, different evaluation criteria are used. Workspace, maximum actuation forces and velocities, power, actuator stiffness, accuracy and transmission behavior are taken into account to investigate strengths and weaknesses of the PKMs. A selection scheme based on possible configurations of translational PKM including different frame configurations is presented. Moreover, an optimization method based on a genetic algorithm is described to determine the geometric parameters of the selected PKM for an exemplary load case and a prescribed workspace. The values of the mentioned criteria are determined for all considered PKM with respect to certain boundary conditions. The distribution and spreading of these values within the prescribed workspace is presented by using box plots for each criterion. Thereby, the performance characteristics of the different structures can be compared directly. The results show that there is no "best" PKM. Further inquiries such as dynamic or stiffness analysis are necessary to extend the comparison and to finally select a PKM.
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.
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.
Design and application of a new 3-DOF translational parallel manipulator
2007 IEEE Workshop on Advanced Robotics and Its Social Impacts, 2007
A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) constructed only with prismatic (P), cylindrical (C), revolute (R) joints has been proposed in this paper. The mobility of the 3-PCR TPM is analyzed via screw theory. Afterwards, the inverse kinematics, forward kinematics, and velocity analysis are performed and the singularity problems are investigated. In addition, the reachable workspace has been determined analytically and compared with and without consideration of mechanical constraints. It is shown that the 3-PCR TPM owns a smaller size output platform than the existing 3-PRC one, and then has more wide applications. In view of applications, the 3-PCR TPM is adopted as a CPR (cardiopulmonary resuscitation) medical robot, and another new 3-PCR TPM with an orthogonal architecture is presented and its application in micro/nano scale manipulation has been exhibited through the employment into an automatic biological cell injection system. The results presented in the paper are helpful for the design and development of several new TPMs for various applications.
Kinematic and dynamic analyses of a novel 4-DOF parallel mechanism
Journal of the Brazilian Society of Mechanical Sciences and Engineering
This paper addresses the kinematical and dynamical analyses of a novel linearly actuated 4-DOF parallel kinematic machine, composing 3 translational and 1 rotational motion abilities. For this purpose, first, based on the closed loop vector theorem, the inverse kinematical relations of position, velocity and acceleration are derived. Then, employing the Euler's method, dynamics of the mechanism is analyzed. Afterward, a simulated dynamic model of the presented mechanism is developed utilizing SimMechanics, and for a specified trajectory of the moving platform, the applied forces are determined via two above mentioned methods. The results indicated that the two analytical and simulated models are in close accordance with together. Also, for different trajectories, the difference between the forces obtained from analytical model and the simulated one was less than 0.1 (N), which designates the accuracy of the model.
Journal of Robotic Systems, 2003
This paper focuses on the kinematics of a family of translational parallel mechanisms equipped with three 4-dof legs and rotary actuators. The direct and the inverse position problems are solved in analytical form, the velocity analysis is carried out, the workspace is determined and the loci of both kinematic singularities and isotropic configurations are derived. Furthermore, the problem of singularity avoidance by means of actuator redundancy is addressed and some solutions are proposed. Two special architectures are finally considered as case studies: in the first, the three actuation axes are mutually orthogonal, in the second, two actuation axes are parallel to each other and the third is perpendicular to them. The comparison of the two architectures on the basis of kinematic considerations allows for the selection of the second one as a preferable solution.
Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms
Machines, 2016
In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented. Its mobility is analyzed and the position analysis is solved by using equations derived from mechanical constraints. Furthermore, the analysis of velocity and acceleration are solved by means of the screw theory. For completeness, the inverse dynamics are also presented and solved by means of an interesting combination of the screw theory and the virtual work principle. Finally, a numerical example is included to show the application of the kinematic model, which is verified with the aid of a commercially available software.
Prototype design of a translating parallel robot
Meccanica, 2008
The paper describes the mechanical design of a parallel manipulator for motions of pure translation, whose kinematic analysis has shown very good performances such as a large workspace and small overall dimensions of the mobile platform; in particular, the "Cartesian" structure of the machine allowed to obtain constant accuracy and kinematic properties throughout the workspace. The structural design has minimized the mass of the moving links and, by the combined use of FEM and multibody codes, allowed to take into consideration the high stresses coming from inertial forces and to evaluate a-priori the resulting dynamic properties. A physical prototype has just been built in order to validate the developed models and assess the actual robot performances in real operating conditions.