Analysis of the 2 P RU-1 P RS 3DOF parallel manipulator: kinematics, singularities and dynamics

Herrero, Saioa; Pinto, Charles; Altuzarra, Oscar; Díez, Mikel

doi:10.1016/j.rcim.2017.11.018

Cited by 21 publications

(27 citation statements)

References 9 publications

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“…Herrero et al 3 presented the 2PRU-1PRS parallel manipulator and proposed it as an automobile components testing machine. They analysed the kinematics, singularities and dynamics for general geometric parameters and then focused on a particular prototype.…”

Section: H Rmentioning

confidence: 99%

Analytical Procedure Based on the Matrix Structural Method for the Analysis of the Stiffness of the 2PRU–1PRS Parallel Manipulator

Herrero¹,

Pinto²,

Díez³

et al. 2019

Robotica

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SummaryParallel manipulators, especially those with outputs as one translation and two rotations (1T2R), are being increasingly studied. The kinematic chains of parallel manipulators share the loads and make the stiffness higher than the stiffness of serial manipulators with equivalent limbs. This high stiffness ensures a minimal deformation of the limbs, allowing a high positioning accuracy of the endeffector. Thus, it is very important to be able to measure the stiffness in parallel manipulators. In this work, we present a novel 1T2R multi-axial shaking table (MAST) for automobile pieces testing purposes—the 2PRU–1PRS parallel manipulator—and focus on the analysis of its stiffness all over the useful workspace. Analysis methods based on matrix structural method need to be validated for every parallel manipulator, and we present these steps along with a comparison between experimental and analytical methods.

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Section: H Rmentioning

confidence: 99%

Analytical Procedure Based on the Matrix Structural Method for the Analysis of the Stiffness of the 2PRU–1PRS Parallel Manipulator

Herrero¹,

Pinto²,

Díez³

et al. 2019

Robotica

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“…The nonzero term in the upper expression has been decomposed; see equations (8) and (13). Therefore, € q k and l j can be solved.…”

Section: Kinematics Analysismentioning

confidence: 99%

Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform

Luo

Jiao

et al. 2019

Advances in Mechanical Engineering

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Kinematics and dynamics are the most important and basic tool for robot research. With the help of computer technology and the respective advantages of three kinds of software, a new method of co-simulation of parallel robot based on multi-platform is proposed, and the mechanical model of multi-body system of 3-revolute-prismatic-spherical parallel robot is established. According to the mechanical analysis of the parallel robot, the rigid-flexible coupling analysis method is adopted. The displacement error shows a periodic change with a period of 4.2 s and the maximum error is 2 3 10 À4 m. The dangerous part of the structure is the root of the lower link, and its maximum stress is 202.64 MPa less than the yield strength of the material. The multi-software platform co-simulation improves the accuracy of the dynamic response analysis of the part under dynamic load, and provides an important theoretical basis for the design and optimization of the parallel robot.

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“…Also, many different types of parallel and hybrid robots have been investigated recently. [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17] In designing and analyzing a hybrid serial-parallel manipulator and workspace definition, kinematics modeling, calibration, and analysis of inverse and forward kinematics play very important roles. [18][19][20][21][22][23] In the literature, there are many solution methods to solve the robot inverse kinematics problem in parallel mechanisms such as analytic solution, 24 geometric method, 25 efficient inverse kinematics method, 26 iterative inverse kinematics method, 27 and screw theory.…”

Section: Introductionmentioning

confidence: 99%

Application of a Novel Elimination Algorithm with Developed Continuation Method for Nonlinear Forward Kinematics Solution of Modular Hybrid Manipulators

Rahmani

Faroughi

2019

Robotica

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SUMMARY This paper addresses the application of a novel elimination algorithm with a newly developed homotopy continuation method (HCM) for forward kinematics of a specific hybrid modular manipulator known as n-(6UPS). First, the kinematic model of n-(6UPS) was extracted using a homogenous transformation matrix method. Then, a novel algebraic elimination algorithm was developed to transform the highly nonlinear proposed kinematic model into a system of polynomial equations for each module. Next, the HCM is considered to solve the system of equations. Comparison of the results from the proposed approach with experimental data and other methods demonstrates the efficiency of the proposed contribution.

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Analysis of the 2 P RU-1 P RS 3DOF parallel manipulator: kinematics, singularities and dynamics

Cited by 21 publications

References 9 publications

Analytical Procedure Based on the Matrix Structural Method for the Analysis of the Stiffness of the 2PRU–1PRS Parallel Manipulator

Analytical Procedure Based on the Matrix Structural Method for the Analysis of the Stiffness of the 2PRU–1PRS Parallel Manipulator

Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform

Application of a Novel Elimination Algorithm with Developed Continuation Method for Nonlinear Forward Kinematics Solution of Modular Hybrid Manipulators

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