A Six Degree of
Freedom Epicyclic-Parallel Manipulator

Chen, Chao; Gayral, Thibault; Caro, Stéphane; Chablat, Damien; Moroz, Guillaume; Abeywardena, Sajeeva

doi:10.1115/1.4007489

Cited by 27 publications

(33 citation statements)

References 28 publications

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“…We obtain four new equations by − subtracting (12) and (13) from the sum of (10) and (11); − subtracting (11) and (13) from the sum of (10) and (12); − subtracting (11) and (12) from the sum of (10) and (13); − adding (10), (11), (12) and (13).…”

Section: Kinematic Modeling Of the Hexapteronmentioning

confidence: 99%

“…There are different avenues for solving (10)(11)(12)(13), including the use of Gröbner basis, but the following approach is by far the most elegant one. We obtain four new equations by − subtracting (12) and (13) from the sum of (10) and (11); − subtracting (11) and (13) from the sum of (10) and (12); − subtracting (11) and (12) from the sum of (10) and (13); − adding (10), (11), (12) and (13).…”

Section: Kinematic Modeling Of the Hexapteronmentioning

confidence: 99%

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A new 6-DOF parallel robot with simple kinematic model

Seward¹,

Bonev²

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a novel six-legged parallel robot, the kinematic model of which is simpler than that of the simplest six-axis serial robot. The new robot is the 6-DOF extension of the Cartesian parallel robot. It consists of three pairs of base-mounted prismatic actuators, the directions in each pair parallel to one of the axes of a Cartesian coordinate system. In each of the six legs, there are also two passive revolute joints, the axes of which are parallel to the direction of the prismatic joint. Finally, each leg is attached to the mobile platform via a spherical joint. The direct kinematics of the novel parallel robot can be solved easily by partitioning the orientation and the position of the mobile platform. There are eight distinct solutions, which can be found directly by solving a linear system and alternating the signs of three radicals. This parallel robot has a large workspace and is suitable for machining or rapid prototyping, as detailed in this paper.

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Section: Kinematic Modeling Of the Hexapteronmentioning

confidence: 99%

Section: Kinematic Modeling Of the Hexapteronmentioning

confidence: 99%

A new 6-DOF parallel robot with simple kinematic model

Seward¹,

Bonev²

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…The results of the first work done at Monash University on the 3-PPPS introduced the MEPaM robot [5]. In the first design, the first actuators of the kinematics chains are located in orthogonal directions.…”

Section: Introductionmentioning

confidence: 99%

“…These properties allow us to calculate and display the domains without singularities of this robot. Another architecture was introduced where the two first actuated joints are located on the faces of a prism [5]. From the kinematic point of view, this design is simpler than the MEPaM, but the joint space needs to be analyzed in a five dimensional space.…”

Section: Introductionmentioning

confidence: 99%

The 3-PPPS Parallel Robot with U-Shape Base, a 6-DOF Parallel Robot with Simple Kinematics

Chablat

Baron

Jha

et al. 2018

Advances in Robot Kinematics 2018

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Abstract. One of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the "home" configuration.

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“…A differential drive system is used in [21] to allow for all actuators to be mounted on the base whereas [24] use a gimbal mechanism. This paper deals with the shape optimization of a six-dof three-legged parallel manipulator with all actuators mounted to the base, called the Monash Epicyclic-Parallel Manipulator (MEPaM) [25,26]. The design is achieved by taking advantages of two-dof planetary belt systems.…”

Section: Introductionmentioning

confidence: 99%

Elastostatic Modeling and Shape Optimization of a 6-DOF Haptic Interface Device

Caro¹,

Chablat²,

Chen

2012

Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering

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This paper deals with the shape optimization of a six degree-of-freedom haptic interface device. This six-dof epicyclicparallel manipulator has all actuators located on the ground. A regular dexterous workspace is introduced to represent the mobility of user's hand. Throughout this workspace, the deviation of the mobile platform is bounded to provide a better feeling to the user and the masses in motion are minimized to increase the transparency of the haptic device. The stiffness model is written using a virtual joint method and compared with the results obtained with the finite element analysis to be validated. Finally, the shape of the links are optimized in order to minimize the masses in motion while guaranteeing a given stiffness throughout the regular workspace of the mechanism. INTRODUCTIONThere is a large number of parallel manipulators, which have been reported over the past three decades. They can be divided into three-dof, four-dof, five-dof and six-dof parallel manipulators [1][2][3][4]. In three-dof parallel manipulators, there are three-dof translational parallel manipulators [5][6][7], three-dof rotational parallel manipulators [8,9] and three-dof parallel manipulators with mixed (translational and rotational) motion capabilities [10,11]. Among the four-dof parallel manipulators, examples include the four-dof four-URU parallel mechanism [12] and the Schönflies-motion generator [13]. There are also fivedof parallel manipulators, such as the 3T2R parallel manipulators [14][15][16]. For six-dof manipulators, the number of all possible architectures can be extremely large [17]. Six-legged six-dof parallel manipulators, such as the Gough-Stewart platform, have

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A Six Degree of Freedom Epicyclic-Parallel Manipulator

Cited by 27 publications

References 28 publications

A new 6-DOF parallel robot with simple kinematic model

A new 6-DOF parallel robot with simple kinematic model

The 3-PPPS Parallel Robot with U-Shape Base, a 6-DOF Parallel Robot with Simple Kinematics

Elastostatic Modeling and Shape Optimization of a 6-DOF Haptic Interface Device

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