A Dual Space Approach for Force/Motion Transmissibility Analysis of Lower Mobility Parallel Manipulators

Liu, Haitao; Wang, Manxin; Huang, Tian; Chetwynd, D. G.; Kecskeméthy, Andrés

doi:10.1115/1.4030371

Cited by 18 publications

(13 citation statements)

References 20 publications

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“…Due to that, if any one of the active limb is removed from the parallel mechanism, the mobility of the moving platform retains the same. Consequently, the linear map between the twist $ t of the moving platform and the joint variations can be formulated as 27,29…”

Section: Generalized Jacobianmentioning

confidence: 99%

Conceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb rehabilitation

Wang¹,

Li²,

Liu

et al. 2018

Robotica

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SUMMARYThis paper introduces a novel 2R1T parallel manipulator redundantly actuated by pneumatic muscles for lower-limb rehabilitation. First, the conceptual design of the proposed 3-DOF parallel mechanism is presented. Then, the inverse kinematics and the generalized Jacobian analysis are carried out. Based on the generalized Jacobian and the constraint characteristics of the mechanism, the force/motion transmissibility of the redundantly actuated parallel mechanism is investigated via four individual cases without actuation redundancy, leading to a suitable local transmission index for the evaluation of kinematic performance of the proposed mechanism. Finally, the design variables are optimized by maximizing the mean value of the local transmission index with the aid of genetic algorithm. The numerical result shows that the proposed parallel mechanism can achieve a good kinematic performance in its task workspace.

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Section: Generalized Jacobianmentioning

confidence: 99%

Conceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb rehabilitation

Wang¹,

Li²,

Liu

et al. 2018

Robotica

Self Cite

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“…These indices have been applied to nonredundant, purely parallel mechanisms in Refs. [12,[18][19][20][21]. The OTI and ITI form the basis for the fault tolerance analysis in this paper.…”

Section: Singularity Performance Indices Based On Screw Theorymentioning

confidence: 99%

Novel Fault-Tolerance Indices for Redundantly Actuated Parallel Robots

Isaksson

Marlow

Maciejewski

et al. 2017

Journal of Mechanical Design

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Robots designed for space applications, deep sea applications, handling of hazardous material and surgery should ideally be able to handle as many potential faults as possible. This paper provides novel indices for fault tolerance analysis of redundantly actuated parallel robots. Such robots have the potential for higher accuracy, improved stiffness, and higher acceleration compared to similar-sized serial robots. The faults considered are free-swinging joint failures (FSJFs), defined as a software or hardware fault, preventing the administration of actuator torque on a joint. However, for a large range of robots, the proposed indices are applicable also to faults corresponding to the disappearance of a kinematic chain, for example, a breakage. Most existing fault tolerance indices provide a ratio between a robot's performance after the fault and the performance before the fault. In contrast, the indices proposed in this paper provide absolute measures of a robot's performance under the worst-case faults. The proposed indices are based on two recently introduced metrics for motion/force transmission analysis of parallel robots. Their main advantage is their applicability to parallel robots with arbitrary degrees-of–freedom (DOF), along with their intuitive geometric interpretation. The feasibility of the proposed indices is demonstrated through application on a redundantly actuated planar parallel mechanism.

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“…Liu et al [21,22] defined the motion/force transfer index and the motion/force constraint index in DOF space and constraint space respectively to evaluate motion/force transmission and constraint performance qualitatively and quantitatively for the non-redundantly actuated PMs. And these indexes can also be used for singularity analysis [23,24] . For the performance analysis of redundantly actuated PMs, the solution is to simplify the mechanism to multiple non-redundantly actuated one by the permutation and combination of each actuator and to formulate corresponding indexes [19,25,26] .…”

Section: Introductionmentioning

confidence: 99%

Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism

Zhao¹,

Song²,

Chen³

et al. 2020

Preprint

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This paper focuses on a 2R1T 3-UPU (U for universal joint and P for prismatic joint) parallel mechanism (PM) with two rotational and one translational (2R1T) degrees of freedom (DOFs) and the ability of multiple remote centers of motion (M-RCM). The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singularity, constraint singularity, mixed singularity and limb singularity. To solve these singularproblems, the quantifiable redundancy transmission index (RTI) and the redundancy constraint index (RCI) are proposed for optimum seeking of redundant actuators for this PM. Then the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM go through the singularity.

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A Dual Space Approach for Force/Motion Transmissibility Analysis of Lower Mobility Parallel Manipulators

Cited by 18 publications

References 20 publications

Conceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb rehabilitation

Conceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb rehabilitation

Novel Fault-Tolerance Indices for Redundantly Actuated Parallel Robots

Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism

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