A Comparison Study of Two 3-UPU Translational Parallel Manipulators

Hu, Bo; Yao, Yunfeng; Wu, Peiliang; Lü, Yi

doi:10.5772/53394

Cited by 13 publications

(10 citation statements)

References 26 publications

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“…Nevertheless, they necessarily differ in terms of singularity configuration and stiffness due to the different arrangement of their universal joints. For example, as it is proved in [23], Tsai's robot has a singularity plane and a singularity cylindrical surface, while Lu-Hu's robot has two singularity planes.…”

Section: The Remarkable Family Of 3-upu Robotsmentioning

confidence: 94%

A Reconfigurable Asymmetric 3-UPU Parallel Robot

Sarabandi

Grosch

Porta

et al. 2018

2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR)

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Parallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some arrangements, despite their theoretical interest, are of doubtful practical utility due to their sensitivity to errors and the presence in their workspaces of mixed-modes that involve both translations and rotations. The introduction of some sort of asymmetry has been revealed of relevance to come up with more robust designs. In this context, we present an asymmetric 3-UPU robot, that can be reconfigured to work either as a translational or as a rotational robot by simply flipping upside down its moving platform.

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Section: The Remarkable Family Of 3-upu Robotsmentioning

confidence: 94%

A Reconfigurable Asymmetric 3-UPU Parallel Robot

Sarabandi

Grosch

Porta

et al. 2018

2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR)

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“…Therefore, the motion of the moving platform is controlled by a prismatic actuator. Among the kinematic structures developed based on this robot, TPM [4], SPM [5], and mixed translational and rotational motions [6] may be listed.…”

Section: Introductionmentioning

confidence: 99%

Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

et al. 2022

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Optimal mechanical design, model-based control, and robot dynamic calibration mainly rely on the analytical formulation of robot dynamics. In this paper, the kinematics equations of a general 3-UPU translational parallel manipulator (TPM) are derived, and then, by using the principle of the virtual work theorem, the full implicit dynamic model is derived. Furthermore, by making some modifications, the explicit dynamic formulation of the robot is attained, which is the basis of a wide range of advanced model-based controllers. To validate the proposed formulation, a prototype of the 3-UPU TPM is modeled in MSC-ADAMS® software, and the results of the dynamic formulation are validated using this model. The results show the high accuracy of the proposed dynamic formulation presented in this article.

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“…The maximum workspace, the stiffness and inertia properties are used as criteria to compare four 3-DOF TPMs. Hu et al [22] presented a comparison study of singularity configuration, constrained forces/torques situations and stiffness of two 3-UPU parallel manipulators which have identical pure translational DOFs. Prause et al [23] used force, velocity, power, dexterity and accuracy as criteria to evaluate and compare the performance of symmetrical parallel kinematic machines with three translational DOF.…”

Section: Introductionmentioning

confidence: 99%

Precision comparison of two 3-DoF translational parallel manipulators based on the orientation errors due to joint clearances

et al. 2022

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This paper presents a comparative study of two translational parallel manipulators (TPMs) with three Degrees of Freedom (3-DOF) based on the orientation errors due to joint clearances. In fact, the kinematic and static models of the manipulators have been used to determine the analytical model of the orientation errors. Then, the maximum and the sensitivity of the orientation errors have been considered as criteria to compare the precision of the DELTA and the RAF manipulators. The maximum orientation error is determined by solving an optimization problem of the previous analytical model. The sensitivity of the orientation errors is divided into two types: one related to the sensitivity of the orientation errors to the geometric parameters and another one related to the sensitivity of the orientation error to the joint clearances. The results show that the RAF robot precision is more sensitive to the joint clearances than the DELTA one. However, this advantage of the DELTA is limited to a portion of the workspace, which is free from singular configurations.

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A Comparison Study of Two 3-UPU Translational Parallel Manipulators

Cited by 13 publications

References 26 publications

A Reconfigurable Asymmetric 3-UPU Parallel Robot

A Reconfigurable Asymmetric 3-UPU Parallel Robot

Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

Precision comparison of two 3-DoF translational parallel manipulators based on the orientation errors due to joint clearances

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