A Novel 4-DOF Parallel Manipulator H4

Wu, Jinbo; Yin, Zhouping

doi:10.5772/5441

Cited by 7 publications

(7 citation statements)

References 52 publications

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“…The symmetrical design was proposed by Angeles [1], namely the McGill SMG, with two identical legs which, in turn, decreases the number of joints. There exist two architecture varieties of H4 family, either with revolute or with prismatic actuators [6][7][8]. The H4 robot designed by Pierrot et al [6,7], is a fully-parallel mechanism with no passive kinematic chain between the base and the nacelle.…”

Section: Introductionmentioning

confidence: 99%

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Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph

Amine

Mokhiamar

Caro³

2016

Journal of Mechanisms and Robotics

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This paper presents a classification of 3T1R parallel manipulators (PMs) based on the wrench graph. By using the theory of reciprocal screws, the properties of the three-dimensional projective space, the wrench graph, and the superbracket decomposition of Grassmann–Cayley algebra, six typical wrench graphs for 3T1R parallel manipulators are obtained along with their singularity conditions. Furthermore, this paper shows a way in which each of the obtained typical wrench graphs can be used in order to synthesize new 3T1R parallel manipulator architectures with known singularity conditions and with an understanding of their geometrical properties and assembly conditions.

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Section: Introductionmentioning

confidence: 99%

“…Each revolute joint in the leg is actuated. The H4 robot with prismatic actuators mounted to the base, was presented by Wu et al [8]. Another mechanism constructed by three identical legs was proposed by Briot and Bonev [9,10], called Pantopteron-4, having a pantograph…”

Section: Introductionmentioning

confidence: 99%

Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph

Amine

Mokhiamar

Caro³

2016

Journal of Mechanisms and Robotics

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“…(k) = tan -1 { (R Fk e y ) T (R Nk e y ) / (R Fk e y ) T (R Nk e x ) } k ∈[1,2,3] (12)where ex and ey indicate the rudimentary unit vectors in the x and y headings, individually. 9) Engine edgesθ (і) = (l (і) -l 0(і) )2π / µ -(і) і ∈ [1,2,3](13)where l means the pitch of the string, and l0(1) , l0(2) and l0(3) indicate the separations between F1, F2, and F3 and M1, M2, and M3 at zero engine points θ (1) , θ (2) and θ (3) separately.…”

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confidence: 99%

Analysis of a Parallel Manipulator Implemented in Four-Dimensional Radiotherapy for Physiological Motion of Human Tissues

Kumar¹

2019

IJRASET

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Radiotherapy (RT) permits a selective destruction of cancer cells, although the treatment region is constrained to the irradiated region. Any radiation method comes along side a couple of sources of errors that may result in a deviation of the dose that is implemented to the affected man or woman. Phantoms-systems that reflect a human and consist of measurement technology to assess the implemented dosage are used to make such mistakes identifiable. Past RT technology applied to non moving or stationary tumours. Correspondingly, most current phantoms contain static components. Nowadays, RT is at a transition stage towards strategies which explicitly account for organs which displace all through surgery. These techniques require phantoms generating such movement. Consequentially, a demand for new types of manipulators, which function with a RT-phantom, has stand up and could further increase within no time. Key demands of such manipulators are amongst others, the technology of whole inflexible body motion, immoderate acceleration, high stiffness, compactness, little weight, and easy portability.In this report, a modern kind of parallel kinematic manipulator (PKM), which is tailored to the necessities of 4-Dimensional RT-phantom era, is obtainable. The PKM consists of low price standardized mechanical constituents and units the intention structures, which can be positioned inner a human-equivalent location, into translational and rotational motion in 3 degreess-of-freedom (DOFs). Only a part of the end-effector is located inside the human-equivalent region.Two versions of the manipulator are provided in the report: their kinematics are derived and their kinetostatic properties are also compared. This includes a workspace analysis and the analysis of the transmission behaviour for the required movement, which means the influence of the maximum critical layout parameters at the overall performance. It may be shown that realistic differences of both kinematics are negligible, while the modified model offers significant mechanical advantages. In end, a first special reason manipulator for application inside the evolving field of RT-phantom era is offered. The PKM, which employs a novel kinematic shape, presents better suitability for its reason than most of the other robotic systems to this point for the same motive.

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“…Each revolute joint in the leg is actuated. Whereas the H4 robot with prismatic actuators mounted to the base, was presented by Wu et al [10]. Another mechanism constructed by three identical legs was proposed by Briot and Bonev [11,12], called Pantopteron-4, where each leg comprises a pantograph linkage.…”

Section: Introductionmentioning

confidence: 99%

“…There exist two architecture varieties of H4 family, either with revolute or prismatic actuators [8][9][10]. The H4 robot designed by Pierrot et al [8,9], is a fully-parallel mechanism with no passive kinematic chain between the base and the nacelle.…”

Section: Introductionmentioning

confidence: 99%