A new 6-DOF parallel robot with simple kinematic model

Seward, Nicholas; Bonev, Ilian A.

doi:10.1109/icra.2014.6907449

Cited by 17 publications

(19 citation statements)

References 12 publications

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“…-The equations (11) are simpler to solve than the equations (10), -If the problem cannot be solved analytically, a numeric procedure may be applied [1].…”

Section: Idm Of Parallel Robotsmentioning

confidence: 99%

“…As mentioned in the introduction, LPJTS singularities are encountered in numerous robot architectures among which the best known examples are probably the Tripteron-like or Isoglide-like robots [8,9,5,6,7,10,11].…”

Section: Robot Fixed Basementioning

confidence: 99%

“…However, the increased complexity of the leg arrangement has led to the appearance of other kinds of the singularities, such as the LPJTS singularities. The best known examples of decoupled robots whose legs encounter LPJTS singularities are the Tripteron-like or Isoglide-like robots from three to six degrees of freedom [8,9,5,6,7,10,11].…”

Section: Introductionmentioning

confidence: 99%

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Degeneracy conditions of the dynamic model of parallel robots

et al. 2015

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Despite their well known advantages in terms of higher intrinsic rigidity, larger payload-to-weight ratio, and higher velocity and acceleration capacities, parallel robots have drawbacks. Among them, the most important one is surely the presence of singularities in the workspace which divide the workspace into different aspects (each aspect corresponding to one or more assembly modes) and near which the performance is considerably reduced. In order to increase the reachable workspace of parallel robots, a promising solution consists in the definition of optimal trajectories passing through the singularities to change either the leg working modes or the robot assembly modes. Previous works on the field have shown that it is possible to define optimal trajectories that allow the passing through the robot Type 2 singularities. Such trajectories must respect a physical criterion which can be obtained through the analysis of the degeneracy conditions of the parallel robot inverse dynamic model. However, the mentioned works were not complete: they lacked a degeneracy condition of the parallel robot inverse dynamic model which is not due to Type 2 singularity anymore, but to a serial singularity. Crossing a serial singularity is appealing as in that case we can change the robot leg working mode and then potentially access to other workspace zones. This absence is due to the fact that the authors used a reduced dynamic model which was not taking into account all link dynamic parameters. The present paper aims to fill this gap by providing a complete study of the degeneracy conditions of the parallel robot dynamic model and also by demonstrating that it is possible to cross the Type 2, but also serial singularity, by defining trajectories that respect some given criteria obtained from the analysis of the degeneracy of the robot dynamic model. It also aims to demonstrate that the serial singularities have impacts on the robot effort transmission, which is a point that is usually bypassed in the literature. All theoretical developments are validated through simulations and experiments.

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“…-The equations (11) are simpler to solve than the equations (10), -If the problem cannot be solved analytically, a numeric procedure may be applied [1].…”

Section: Idm Of Parallel Robotsmentioning

confidence: 99%

Section: Robot Fixed Basementioning

confidence: 99%

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Degeneracy conditions of the dynamic model of parallel robots

et al. 2015

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“…This robot was composed of a base and a triangular moving platform with three extensible links connecting the moving platform to the base. Recently, a six-legged parallel robot was introduced in [15] with simpler direct kinematics problem (DKP) which can be solved easily by partitioning the orientation and the position of the mobile platform. However, the workspace size is limited for orientation due to the interferences between the legs.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Workspace Analysis of a 3PPPS Parallel Robot With U-Shaped Base

Chablat

Baron

Jha

2017

Volume 5B: 41st Mechanisms and Robotics Conference

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This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse kinematics for the manipulator under study. The parallel singularities associated with the manipulator depend only on the orientation of the end-effector, and thus depend only on the orientation of the end effector. The quaternion parameters are used to represent the aspects, i.e. the singularity free regions of the workspace. A cylindrical algebraic decomposition is used to characterize the workspace and joint space with a low number of cells. The discriminant variety is obtained to describe the boundaries of each cell. With these simplifications, the 3-PPPS parallel robot with proposed design can be claimed as the simplest 6 DOF robot, which further makes it useful for the industrial applications.

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“…These properties allow parallel manipulators to be adopted for a wide range of potential applications. Machine tools [4], pick-and-place [5], 3D printing [6], and haptic interfaces for robot-assisted surgery [7], [8] are just few of them. Parallel manipulators are closed chains of articulated rigid body systems.…”

Section: Introductionmentioning

confidence: 99%

A novel adaptive terminal sliding mode control for parallel manipulators: Design and real-time experiments

Bennehar

El-Ghazaly

Chemori

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a new adaptive controller based on terminal sliding mode (TSM) control for parallel manipulators. More precisely, the proposed controller is based on a finite-time continuous TSM control scheme. To improve the tracking performance of parallel manipulators, a novel adaptive TSM control scheme is proposed in this paper. Based on the linear-in-the-parameters property of the dynamic model of rigid mechanical manipulators, an adaptive law is proposed to adjust the dynamic parameters of the manipulator in real-time. The proposed controller has the advantages of relying on the desired trajectories instead of measured ones which improves its robustness and efficiency. To demonstrate the effectiveness of the proposed controller, real-time experiments are conducted on a four degree-of-freedom (4-DOF) parallel manipulator called Veloce.

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A new 6-DOF parallel robot with simple kinematic model

Cited by 17 publications

References 12 publications

Degeneracy conditions of the dynamic model of parallel robots

Degeneracy conditions of the dynamic model of parallel robots

Kinematics and Workspace Analysis of a 3PPPS Parallel Robot With U-Shaped Base

A novel adaptive terminal sliding mode control for parallel manipulators: Design and real-time experiments

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