A 2T-2R, 4-DOF Parallel Manipulator

Chen, Wen-Jia; Zhao, Mingyang; Zhou, Jiping

doi:10.1115/detc2002/mech-34303

Cited by 12 publications

(10 citation statements)

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“…To sum up, Fig. 1 shows four conceptual designs which are based on Chen et al (2002) and Fan et al (2011), and our own design analysis.…”

Section: Parallel Robot With 2t2r Degree Of Freedommentioning

confidence: 99%

“…Chen et al (2002) introduced a novel 4-DoF parallel robot with base mounted prismatic actuators and 2PRS-2PUS configuration. Fan et al (2011) proposed a robot with four limbs containing two adjacent RPU limbs and two adjacent SPS limbs, connecting the base to the moving platform.In the aforementioned robots two of their arms form a plane, which limits the leg motion, so the 4-DoF available are two displacements (y and z) and two rotations (x and y axis).…”

Section: Parallel Robot With 2t2r Degree Of Freedommentioning

confidence: 99%

See 1 more Smart Citation

Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2016

ROMANSY 21 - Robot Design, Dynamics and Control

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Nowadays, rehabilitation robots represent a field in which a variety of robotic devices have been proposed. One example of such devices is lower-limb rehabilitation robots. Specifically, the knee joint is one of the joints whose rehabilitation is foreseen as a potential task for a robot device. This paper describes the design of a robot for knee diagnosis and rehabilitation. First, we established the design specification by studying the mobility needed at the robot's end-effector to deal with diagnosis and rehabilitation treatments for knee injuries. The analysis led us to conclude that 4 • of freedom (DoF), two translation (2T) and two rotational (2R), are needed in order to meet the design specifications. After that, we chose a parallel robot with a 3-UPS/RPU architecture from several conceptual designs of 4 DoF (2T2R) parallel robots. For the chosen robot, we developed the inverse kinematic model, and also we established the preliminary dimensions of the robot. Through simulations, we found the workspace of the robot showing that its end-effector is able to follow a prescribed task taken from studying the leg motion. Finally, we built a prototype, which is currently undergoing dynamic modelling, parameter identification and control design stages.

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“…To sum up, Fig. 1 shows four conceptual designs which are based on Chen et al (2002) and Fan et al (2011), and our own design analysis.…”

Section: Parallel Robot With 2t2r Degree Of Freedommentioning

confidence: 99%

Section: Parallel Robot With 2t2r Degree Of Freedommentioning

confidence: 99%

Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2016

ROMANSY 21 - Robot Design, Dynamics and Control

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show abstract

“…The equation for the velocity of the actuators for j=2..4 are found by i) equating equations (13) and (14), ii) multiplying the first row by − 1 2 , 3) multiplying the second by row − 2 , iii) multiplying the third row by 1 2 ,, and iv) adding the three rows. The resulting equation gives the relationship between the actuator and endeffector velocity.…”

Section: 3mentioning

confidence: 99%

“…One of such manipulators is the two rotational and two translational (2R2T) architecture. References [14][15][16][17] presented contributions on designing 4-DoF PMs with 2R2T motion. Although, they focus on theoretical design without considering experimental prototyping or specific application.…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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The need of a device providing two translational (2T) and two rotational (2R) movements led us to the design a 3UPS-1RPU parallel manipulator. The manipulator consisted on a mobile platform connected to a base through four legs. That is, the manipulator layout has one central leg and three external legs at the same radial distance. By studying different locations of the legs anchoring point, we improved the first layout design, yet not the optimal one. On this basis, this paper focus on the optimal dimensional design of the manipulator. To this end, we put forward the kinematics equations of the manipulator in accordance to the anchoring points coordinates. Through a numerical approach, the equations enable to find the manipulator workspace. Also, we find a global manipulability index using a local dexterity measure. The latter index serves as optimal function. The optimization process considers joint constraints. Thus, we built a nonlinear optimization problem solved through sequential quadratic programming algorithms. We start by optimizing only a small set of parameters rather than the entire set, which gives us insights on the initial guess to optimize using the entire set. The optimal design layout varies from the original layout. Findings suggest that a task-oriented reconfiguration strategy can improve manipulator performance.

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“…Zlatanov and Gosselin proposed a new parallel mechanism with three translational DOFs and one rotational DOF in 2001 (8) . In 2002 Chen and Zhao proposed a non-symmetrical parallel mechanism which can provide two translational DOFs and two rotational DOFs (9) . As most of the actual tasks require 4 DOFs, it is significant to carry out further investigation on the analysis and synthesis of 4-DOF parallel mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Kinematics and Dynamics for a Novel Hybrid Kinematics Machine

Wang

et al. 2007

JAMDSM

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In this paper a novel 4 Degree-of-Freedom (DOF) parallel mechanism with the configuration of 4PUS-1RPU is first proposed, the mechanism is composed of four symmetrical driving chains and one central passive subchain. Based on the proposed 4-DOF parallel mechanism a 5-axis Hybrid Kinematics Machine (HKM) scheme is developed with an additional linear motion is combined, which can perform the 5-axis machining for freeform parts. The inverse kinematics of the 4-DOF parallel mechanism and the direct kinematics for the serial central sub-chain are then presented. The dexterity and the workspace analysis for the mechanism are also carried out. The dynamic characteristics of the PKM are investigated in detail. The simulation results show that the first four fundamental frequencies are the dominant factors that influence the dynamic characteristics of the developed PKM. The research provides the basis for the further parametric design with consideration of dynamic performances.

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A 2T-2R, 4-DOF Parallel Manipulator

Cited by 12 publications

References 0 publications

Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation

Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Analysis of Kinematics and Dynamics for a Novel Hybrid Kinematics Machine

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