CAD-enhanced workspace optimization for parallel manipulators: A case study

Shah, Hrishi; Narayanan, Madusudanan Sathia; Krovi, Venkat

doi:10.1109/coase.2010.5584487

Cited by 10 publications

(2 citation statements)

References 9 publications

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“…The platform manipulator considered in this paper, a 6-P-U-S manipulator, is similar in architecture to the one considered in Narayanan, Chakravarty, Shah, and Krovi (2010) and Zhao and Gao (2009). A schematic diagram of the generalized manipulator is shown in Figure 5 and a detailed schematic for each limb subsystem for our specialized configuration is shown in Figure 6.…”

Section: Math Background System Definitionmentioning

confidence: 99%

Parallel Architecture Manipulators for Use in Masticatory Studies

Narayanan

Kannan

Zhou

et al. 2011

International Journal of Intelligent Mechatronics and Robotics

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There is considerable scientific and commercial interest in understanding the mechanics of mastication. In this paper, the authors develop quantitative engineering tools to enable this process by: (i) designing a general purpose mastication simulator test-bed based on parallel architecture manipulator, capable of producing the requisite motions and forces; and (ii) validating this simulator with a range of test-foods, undergoing various mastication cycles under controlled and monitored circumstances. Such an implementation provides a test bed to quantitatively characterize the mastication based on “chewability index”. Due to the inherent advantages of locating actuators at the base (ground) in terms of actuator efforts and structural rigidity as well as benefits of using prismatic sliders compared to revolute actuators, the 6-P-U-S system was chosen. A detailed symbolic kinematic analysis was then conducted. For the practical implementation of the test-bed, the analytical Jacobian was examined for singularities and the design was adapted to ensure singularity free operation. A comprehensive parametric study was undertaken to obtain optimal design parameters for desired workspace and end effector forces. Experiments captured jaw motion trajectories using the high speed motion capture system which served as an input to the hardware-in-the-loop simulator platform.

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Section: Math Background System Definitionmentioning

confidence: 99%

Parallel Architecture Manipulators for Use in Masticatory Studies

Narayanan

Kannan

Zhou

et al. 2011

International Journal of Intelligent Mechatronics and Robotics

Self Cite

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“…This approach combines the advantages of the analytical method in accuracy and the graphical method in repeatability and visualization, and has been successfully applied to compute the velocity/acceleration, the Jacobian matrix, 15 the singular configuration, 16 the inertial wrench, 17 and the elastic deformation 18 of PMs. As it is difficult to obtain the analytical solutions of the forward kinematics of PMs, Shah et al 19 proposed a geometry-based method for accurate and computationally effective calculation of the workspace of a constrained PM. The author used the example of Stewart-Gough Platform to illustrate that such geometric programing methods using CAD modeling software could be much more insightful, efficient and accurate than conventional parameter sweep methods.…”

Section: Introductionmentioning

confidence: 99%

An approach for mobility and force/motion transmissibility analysis of parallel mechanisms based on screw theory and CAD technology

Liu

Zhang

et al. 2021

Advances in Mechanical Engineering

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By integrating screw theory with computer-aided design (CAD) technology, this paper presents an effective and automated methodology for mobility and force/motion transmissibility analysis of parallel mechanisms (PMs). In this approach, A kinematic diagram of a PM termed as the conceptual model, which consists of a solid assembly and several skeleton elements in the form of datum entities and non-geometric entities such as parameters, equations and semantic information, is built by using the 3D modeling capabilities of SolidWorks. For each limb of the PM, a rule-based reasoning (RBR) system is developed based upon the dual and reciprocal properties of screw systems, allowing its own twist/wrench subspaces to be determined automatically by using the joint axis features extracted from the conceptual model. These considerations lead to an automated procedure that can be used to generate the general Jacobian of PMs, allowing the mobility and force/motion transmissibility analysis to be carried out automatically, a work that had to be done manually in the past. Based on the proposed approach, a software package is developed and examples are given to verify its effectiveness.

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Biologically Inspired Design

Goel¹,

McAdams²,

Stone³

2014

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CAD-enhanced workspace optimization for parallel manipulators: A case study

Cited by 10 publications

References 9 publications

Parallel Architecture Manipulators for Use in Masticatory Studies

Parallel Architecture Manipulators for Use in Masticatory Studies

An approach for mobility and force/motion transmissibility analysis of parallel mechanisms based on screw theory and CAD technology

Biologically Inspired Design

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