A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Balmaceda-Santamaría, Albert L.; Castillo-Castañeda, Eduardo; Gallardo-Alvarado, Jaime

doi:10.5772/61942

Cited by 9 publications

(4 citation statements)

References 36 publications

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“…PARALLIX LKF-2040 is capable of imparting three translational degrees of freedom to its end-effector. Figure 1 also shows the robot’s geometric parameters required for its kinematic model and is described in [ 34 ]. These are: the radii of the fixed ( R ) and mobile platform ( r ), the lengths of the actuated links (

), the parallelogram (

), the constant angle of each arm with respect to the robot’s coordinate system (

), the displacement angles of the active joints (

), and the passive joints (

and

).…”

Section: Delta-type Parallel Robotsmentioning

confidence: 99%

A Novel Velocity-Based Control in a Sensor Space for Parallel Manipulators

Loredo

Maya

González

et al. 2022

Sensors

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It is a challenging task to track objects moving along an unknown trajectory. Conventional model-based controllers require detailed knowledge of a robot’s kinematics and the target’s trajectory. Tracking precision heavily relies on kinematics to infer the trajectory. Control implementation in parallel robots is especially difficult due to their complex kinematics. Vision-based controllers are robust to uncertainties of a robot’s kinematic model since they can correct end-point trajectories as error estimates become available. Robustness is guaranteed by taking the vision sensor’s model into account when designing the control law. All camera space manipulation (CSM) models in the literature are position-based, where the mapping between the end effector position in the Cartesian space and sensor space is established. Such models are not appropriate for tracking moving targets because the relationship between the target and the end effector is a fixed point. The present work builds upon the literature by presenting a novel CSM velocity-based control that establishes a relationship between a movable trajectory and the end effector position. Its efficacy is shown on a Delta-type parallel robot. Three types of experiments were performed: (a) static tracking (average error of 1.09 mm); (b) constant speed linear trajectory tracking—speeds of 7, 9.5, and 12 cm/s—(tracking errors of 8.89, 11.76, and 18.65 mm, respectively); (c) freehand trajectory tracking (max tracking errors of 11.79 mm during motion and max static positioning errors of 1.44 mm once the object stopped). The resulting control cycle time was 48 ms. The results obtained show a reduction in the tracking errors for this robot with respect to previously published control strategies.

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), the parallelogram (

), the constant angle of each arm with respect to the robot’s coordinate system (

), the displacement angles of the active joints (

), and the passive joints (

and

).…”

Section: Delta-type Parallel Robotsmentioning

confidence: 99%

A Novel Velocity-Based Control in a Sensor Space for Parallel Manipulators

Loredo

Maya

González

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…With the widespread applications, scholars have conducted extensive researches on its kinematics, dynamics, performance evaluation, control strategy, and synthesis optimization. 7 –10…”

Section: Introductionmentioning

confidence: 99%

Simultaneous path planning and trajectory optimization for high-speed sorting system

Zhang

et al. 2018

International Journal of Advanced Robotic Systems

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This article presents a strategy for efficient sorting path planning and trajectory optimization with multiple constraints. The proposed strategy is applicable to typical high-density sorting applications. It plans the sorting path while optimizing each trajectory. The total stroke traveled by the end effector to complete the sorting task is shortened, and the efficiency of the production line is correspondingly facilitated. Thus, this article designs bow-shaped trajectories by analyzing the work process of the production line to ensure the smooth transition of the end effector and bow-shaped trajectories are based on the starting point and the end point of each sorting action. The modified trapezoidal acceleration and deceleration algorithm is used to optimize each sorting trajectory, which ensures that each sorting action is executed quickly and stably. Simultaneously, the greedy strategy is applied to plan the sorting task, which further shortens the total stroke of the end effector and improves the efficiency of the production line. A specific cost function is also designed to improve the planning strategy to prevent the occurrence of missing materials and enhance the adaptability of the sorting system. In consideration of the efficiency of the sorting system is significantly improved by this approach, the effectiveness of the proposed strategy in this article is thus verified compared with existing ones by experiments. In addition, the impact of the conveyor speed on the sorting system is also discussed.

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“…The optimization-based approaches are suitable to address trade-offs among multiple competing objectives. The detailed kinematics/dynamics of the designed robots are generally either ignored or simplified in the first two types of approaches, while the last type of approaches, dynamic-analysis-based, puts kinematics/dynamics as the main focus [12,13]. Currently papers employing dynamic-analysis-based approaches mostly deal with arm robots [14,12] with some exceptions dealing with mobile robots [13].…”

Section: Introductionmentioning

confidence: 99%

“…The detailed kinematics/dynamics of the designed robots are generally either ignored or simplified in the first two types of approaches, while the last type of approaches, dynamic-analysis-based, puts kinematics/dynamics as the main focus [12,13]. Currently papers employing dynamic-analysis-based approaches mostly deal with arm robots [14,12] with some exceptions dealing with mobile robots [13]. One issue with the aforementioned approaches is their inability to allow for simultaneously structural and functional reconfigurations, thus greatly restrict the potential of their robots.…”

Section: Introductionmentioning

confidence: 99%

Correct-by-Construction Approach for Self-Evolvable Robots

Chen

Kong

2017

Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications

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The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have the potential to be more flexible to be used in a wider range of tasks, in a wider range of environments, and with a wider range of users. To accommodate such a concept, i.e., allowing a self-evovable robot to be configured and reconfigured, we present a series of formal constructs, e.g., structural reconfigurable grammar and functional reconfigurable grammar. Furthermore, we present a correct-by-construction strategy, which, given the description of a workspace, the formula specifying a task, and a set of available modules, is capable of constructing during the design phase a robot that is guaranteed to perform the task satisfactorily. We use a planar multi-link manipulator as an example throughout the paper to demonstrate the proposed modeling and designing procedures. IntroductionReconfigurable robots are a family of robots that are capable of adjusting their shapes and functions to changing environments and tasks [1,2]. They are posed to meet the increasing demands of providing personal robots to adjust to individual needs and physical characteristics [3,4] as well as industrial robots to adapt to changes in the market [5]. Over the past three decades, the field of reconfigurable robots has advanced from proofs-of-concept to physical implementations. However, even with their potential versatility and robustness over conventional robots, reconfigurable robots still suffers from inferior performance, one of the main factors impeding them from practical adoption. Furthermore, existing reconfigurable robots are rarely capable of functional adaption. In this paper, we propose a formal modeling framework of reconfigurable robots that are capable of both structural and functional reconfigurations. We will also explore a design philosophy called "correct-by-construction" to guarantee the performance of the robots during the design phase.

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A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Cited by 9 publications

References 36 publications

A Novel Velocity-Based Control in a Sensor Space for Parallel Manipulators

A Novel Velocity-Based Control in a Sensor Space for Parallel Manipulators

Simultaneous path planning and trajectory optimization for high-speed sorting system

Correct-by-Construction Approach for Self-Evolvable Robots

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