Dynamics and control of parallel manipulators with actuation redundancy

Cheng, Hui

doi:10.14711/thesis-b706494

Cited by 5 publications

(3 citation statements)

References 30 publications

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“…After that, Siciliano (1999) proposed the tricept robot kinematics and did its workspace optimization using different parameters. later, Hui Cheng worked on the dynamics and control of parallel manipulators (Cheng, 2001). YJ Lou et al (2005) compared different manipulators and their optimization based on dexterity.…”

Section: Literaturementioning

confidence: 99%

Optimal design of tricept parallel manipulator with particle swarm optimization using performance parameters

Farooq

2021

JER is an international, peer-reviewed journal that publishes f

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The parallel manipulators are skilled for their precision manufacturing but need optimized design to get maximum dexterity that will lead towards better industrial production rates. The 3-DOF tricept is chosen to utilize its maximum capabilities for its functionality. Three performance parameters conditioning index, workspace volume, and global conditioning index are used to obtain optimum design variables of tricept mechanism. With a view to compare them in terms of processing effort, particle swarm optimization (PSO) is applied here. Finally, multiobjective optimization with two strategies weighted and epsilon constraint is performed to control the different parameters simultaneously and also to give validation of previously obtained GA based optimum design values of tricept mechanism.

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Section: Literaturementioning

confidence: 99%

Optimal design of tricept parallel manipulator with particle swarm optimization using performance parameters

Farooq

2021

JER is an international, peer-reviewed journal that publishes f

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“…Then force redundancy is introduced and it has been shown that it is an efficient way to reduce or even eliminate these singularities from parallel manipulator [12][13][14]. Besides, force redundant mechanism also has the nice features of increasing the reliability of the system, improving Cartesian stiffness, achieving more homogeneous output forces and minimizing internal loading torques of the actuators of the manipulator [15][16][17]. As a result, some high speed parallel mechanisms with force redundancy appeared.…”

Section: Introductionmentioning

confidence: 99%

Introducing kinematical redundancy into parallel mechanism with force redundancy

Nagai

Liu

2008

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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We aim to design a mechanism with high acceleration and high accuracy. Force redundant mechanism is designed to realize these requirements. However, big excessive internal forces will arise if all the joints adopt position control scheme for upper controller and velocity control scheme for servo motor to achieve a high accuracy. Therefore, an idea of introducing kinematic redundancy into force redundant mechanism is proposed. It is shown this kind of improved force redundant mechanism might be able to achieve a high acceleration with better accuracy simultaneously if the good velocity control performances of the servo motor can be utilized well.

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“…There are two major approaches to formulate the dynamics of planar PM, namely, Newton-Euler and Lagrangian formulations. Do and Yang [47], Guglielmetti and Longchamp [48], Cheng [49], Lin and Song [50] introduced the Newton-Euler formulation for PMs. The Newton-Euler formulation requires the equations of motion to be obtained for each component of the manipulator, which generally leads to a large number of equations.…”

Section: Chapter 4 Dynamic Analysis Of Planar Parallel Manipulator Wimentioning

confidence: 99%

The study of joint-coupling in parallel manipulator design

Theingi¹

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A parallel manipulator (PM) is a closed-loop kinematic mechanism whose end-effector is connected to the base by several kinematic chains. PMs have attractive features of high speed, high accuracy, high pay load ratio and low inertia. However, lack in workspace dimensions, more complex direct kinematics and singularities within the workspace make the applications of manipulators difficult. Singularity is the most serious among these drawbacks, because the manipulator loses or gains mobility and becomes uncontrollable in this condition. To overcome singularity conditions, the concept of joint-coupling (JC) is introduced and studied in this work. The idea behind JC is to couple the movement of several joints together with a single actuator by mechanical or electronic means while preserving the mobility of the manipulator. In this work, planar PMs with JCs are studied to illustrate the advantage of this approach for singularity management. In instantaneous kinematics of the PM with JC, the jacobian matrices of the manipulator become functions of coupling coefficients. Consequently, singularity manifolds (loci) of the manipulator can be fine-tuned by changing the values of coupling coefficients. The dynamics of PMs with JCs is formulated based on Lagrange formulation for the study of joint torque distribution in JCs. In selecting appropriate coupling coefficients, two methods are proposed: (1) the task-based approach, which uses kinematic property of the manipulator, (2) the motor torque limit approach, which requires the dynamic model of the manipulator. Simulation and experiment results indicate that the both methods are feasible. Two types of coupling devices are developed for experiments. A mechanical JC device is designed using a differential planetary gear mechanism with a fixed coupling ratio. A more flexible and adaptable electronic JC device is also designed based on an electronic gearing concept, which uses a microprocessor to synchronize the motors in the inputs joints at any arbitrary coupling ratio. Experimental work is conducted to verify the kinematic performance of the manipulator and to show the altering of the direct singularity. It is shown that PMs with JC can manage the singularity either mechanically or electronically. The JC concept can also be extend to spatial manipulators. The potential application of JC concept allows PMs to deal with the more dexterous tasks.

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Dynamics and control of parallel manipulators with actuation redundancy

Cited by 5 publications

References 30 publications

Optimal design of tricept parallel manipulator with particle swarm optimization using performance parameters

Optimal design of tricept parallel manipulator with particle swarm optimization using performance parameters

Introducing kinematical redundancy into parallel mechanism with force redundancy

The study of joint-coupling in parallel manipulator design

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