A new class of reconfigurable parallel kinematic machines

Carbonari, Luca; Callegari, Massimo; Palmieri, Giacomo; Palpacelli, Matteo-Claudio

doi:10.1016/j.mechmachtheory.2014.04.011

Cited by 100 publications

(50 citation statements)

References 21 publications

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“…Carbonari et al (2013) also demonstrated that a reconfiguration of the universal joint allows to modify the kinematic behaviour of a 3-CPU parallel robot, switching from a pure rotational to a pure translational kinematic behaviour. This paper focuses on the dynamic modelling of a pure translational 3-CPU architecture, called I.Ca.Ro.…”

Section: Carbonari Et Al: Dynamic Modelling Of a 3-cpu Pkmmentioning

confidence: 94%

Dynamic modelling of a 3-CPU parallel robot via screw theory

et al. 2013

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Abstract. The article describes the dynamic modelling of I.Ca.Ro., a novel Cartesian parallel robot recently designed and prototyped by the robotics research group of the Polytechnic University of Marche. By means of screw theory and virtual work principle, a computationally efficient model has been built, with the final aim of realising advanced model based controllers. Then a dynamic analysis has been performed in order to point out possible model simplifications that could lead to a more efficient run time implementation.

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Section: Carbonari Et Al: Dynamic Modelling Of a 3-cpu Pkmmentioning

confidence: 94%

Dynamic modelling of a 3-CPU parallel robot via screw theory

et al. 2013

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“…(14). Such configurations are distinct for the fixed platform and the rest of the mechanism, since they are uncoupled mechanisms.…”

Section: Evident Singular Configurationsmentioning

confidence: 99%

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Balmaceda-Santamaría

Castillo-Castañeda

Gallardo-Alvarado

2016

International Journal of Advanced Robotic Systems

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This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.

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Section: Introductionmentioning

confidence: 99%

“…For instance deployable structures are used in car roofs [1], in architecture [2], and in portable emergency shelters [3] where they need to be capable of being closed in a compact space and to extend over a large space when undeployed. Reconfigurable and metamorphic robot manipulators are capable of changing certain kinematic properties [4,5] by which they are more flexible in carrying out different tasks or they are capable to perform more complicated tasks [6,7].One challenge in the design of deployable, reconfigurable, and metamorphic linkages is to bear the forces due to the mass and the motion of the mass of the elements, which can be significant already for small dimensions. Because of gravity these linkages may collapse if not properly and continuously actuated, which can happen especially at the instant moment of mobility change when moving from one configuration mode to another.…”

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confidence: 99%

Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions

Wijk

Zhang

Dai

2016

Volume 5B: 40th Mechanisms and Robotics Conference

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INTRODUCTIONDeployable, reconfigurable, and metamorphic linkages are useful for devices that need large flexibility and adaptability. For instance deployable structures are used in car roofs [1], in architecture [2], and in portable emergency shelters [3] where they need to be capable of being closed in a compact space and to extend over a large space when undeployed. Reconfigurable and metamorphic robot manipulators are capable of changing certain kinematic properties [4,5] by which they are more flexible in carrying out different tasks or they are capable to perform more complicated tasks [6,7].One challenge in the design of deployable, reconfigurable, and metamorphic linkages is to bear the forces due to the mass and the motion of the mass of the elements, which can be significant already for small dimensions. Because of gravity these linkages may collapse if not properly and continuously actuated, which can happen especially at the instant moment of mobility change when moving from one configuration mode to another. For the linkage in motion the inertial forces can cause unwanted behavior such as base vibrations, especially at high speeds. Force balance then becomes an important aspect in the design of the linkage.A force balanced linkage is designed such that the common center of mass (CoM) of all elements is in a stationary point in

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A new class of reconfigurable parallel kinematic machines

Cited by 100 publications

References 21 publications

Dynamic modelling of a 3-CPU parallel robot via screw theory

Dynamic modelling of a 3-CPU parallel robot via screw theory

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions

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