Dynamics and control of a 5-DOF manipulator based on an H-4 parallel mechanism

Sangveraphunsiri, Viboon; Chooprasird, Kummun

doi:10.1007/s00170-010-2722-3

Cited by 32 publications

(16 citation statements)

References 7 publications

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“…A five-DOF hybrid mechanism which consists of a 3-DOF parallel platform and a X-Y table [16]. A parallel mechanism (3T1R) and a rotational table were integrated into a five-DOF hybrid robot manipulator [17]. A five-DOF hybrid mechanism was designed which includes a parallel manipulator (2T1R) with a rotational table [18].…”

Section: Introductionmentioning

confidence: 99%

“…Two five-DOF mechanisms were introduced, which are composed of a 3-DOF parallel mechanism connected in series with a 2-DOF wrist [22]. Some of the designs of these five-DOF hybrid robot manipulators are complex, since an application of the inferior-mobility robot manipulator demands a translatable table [15] or a rotatable one [16][17][18]. Also, the problem of achieving motion control is harder for a hybrid mechanism [19,20] with redundantly actuated joints than a non-redundantly actuated one.…”

Section: Introductionmentioning

confidence: 99%

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A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

Guo

Zhu

et al. 2019

Applied Sciences

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Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

Guo

Zhu

et al. 2019

Applied Sciences

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“…Masouleh et al 6 investigated the forward kinematic problem of the 5-RPUR parallel manipulator based on algebraic geometry 7 where study parameters are employed in order to elucidate the issue in a seven-dimensional kinematic space, an in-deep contribution. Sangveraphunsiri and Chooprasird 8 addressed the dynamics and control of a H-4-type parallel manipulator equipped with a rotary table, a viable option to simplify the kinematics of this class of parallel manipulators. The singularity analysis of parallel manipulator generators of the 3T2R motion was investigated by Amine et al 9 by combining Grassmann-Cayley algebra with Grassmann geometry.…”

Section: Introductionmentioning

confidence: 99%

A Simple Method to Solve the Instantaneous Kinematics of the 5-RUR Parallel Manipulator

Gallardo-Alvarado

Abedinnasab²,

Islam³

2019

Robotica

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SummaryIn this work a simple method to solve the kinematics of the 5-R$\underbar{P}$UR parallel manipulator is introduced. Dealing with the displacement analysis, the kinematic constraint equations required to address the forward–inverse displacement analysis are established according to linear combinations of two vectors attached to the moving platform. Then, besides the solution of the inverse displacement analysis two strategies are proposed in order to solve the forward position analysis. Finally, the input–output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. Numerical examples are provided with the purpose to illustrate the proposed method. Furthermore, the numerical results obtained by means of screw theory are confirmed with the aid of commercially available software.

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“…18 Sangveraphunsiri designed a hybrid 5-DoF manipulator based on an H-4 family PM with three rotational and one translational movements. 19 You et al proposed a haptic device with pantograph parallel platform and they studied its kinematics. 20 Lu et al proposed a 5-DoF 4SPS+1SPR parallel machine tool with two composite spherical joints 21 and analyzed its kinematics.…”

Section: Introductionmentioning

confidence: 99%

Dynamics analysis of a novel 5-DoF parallel manipulator with couple-constrained wrench

et al. 2018

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SUMMARYA three-dimensional (3D) model of a novel 5-DoF type parallel manipulator with a couple-constrained wrench is constructed and its couple-constrained wrench is analyzed. First, the formulas are derived for solving the displacement, velocity, acceleration of the moving platform and moving links, and a workspace is constructed. Second, the formulas are derived for solving the inertial wrenches of the moving links. Third, a dynamics equation is established by considering the inertial wrenches and friction, and the formulas are derived for solving the dynamically active forces and the dynamically couple-constrained wrench. Finally, a numerical example is given to demonstrate the analytic solution of the kinematics and the dynamics, and the analytical solutions are verified by utilizing a simulation mechanism.

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Dynamics and control of a 5-DOF manipulator based on an H-4 parallel mechanism

Cited by 32 publications

References 7 publications

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

A Simple Method to Solve the Instantaneous Kinematics of the 5-RUR Parallel Manipulator

Dynamics analysis of a novel 5-DoF parallel manipulator with couple-constrained wrench

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