Experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulators

Liang, Conghui

doi:10.3901/cjme.2011.05.713

Cited by 14 publications

(10 citation statements)

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“…The system was designed for humanoid robots with the advantages of high payload, high stiffness, and accuracy, but the structure was too complicated. 9,10 In 1999, ABB Flexible Automation launched a four-DOF delta robot under the name IRB 340 FlexPicker. Compared with traditional delta robot, the IRB robot has more flexibility and larger scope of application.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

Yang

et al. 2017

International Journal of Advanced Robotic Systems

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In this article, a novel five-degrees-of-freedom hybrid robot is proposed and its kinematics and dynamics are analyzed systematically. First, the mechanism is designed. It is composed of a traditional three-degrees-of-freedom delta robot and a two-degrees-of-freedom serial mechanism. Second, the forward kinematics is established by geometric method, and the inverse kinematics is established by Denavit-Hartenberg (D-H) matrix method. Third, based on the principle of virtual work, Lagrange equations of dynamics are deduced. Finally, the feasibility and advantage of the proposed robot are verified by simulation and experiment.

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Section: Introductionmentioning

confidence: 99%

Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

Yang

et al. 2017

International Journal of Advanced Robotic Systems

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“…In recent years, some serial-parallel manipulators (S-PMs) have attracted much attention in the field of robotics. [1][2][3][4][5][6][7][8][9][10][11][12][13] This class of manipulators is composed of several parallel manipulators (PMs) connected in serial. Thus, the S-PMs have higher stiffness than serial manipulators (SMs) and a larger workspace than PMs.…”

Section: Introductionmentioning

confidence: 99%

Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

Lü

2014

Robotica

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SUMMARYThe inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial–parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs.

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“…Kinematics and dynamics are fundamental topics in mechanism theory [8][9][10][11][12][13][14][15][16][17][18]. In the previous kinematics/dynamics researches of S-PMs, the formulae for solving the forward kinematics and driving forces are derived.…”

mentioning

confidence: 99%

Unified solving inverse dynamics of 6-DOF serial–parallel manipulators

2015

Applied Mathematical Modelling

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a b s t r a c tThe unified inverse dynamics model of serial-parallel manipulators (S-PMs) formed by two parallel manipulators (PMs) connected in series is systematically established based on the constraint and the coupling characteristics of the single PMs in the S-PM. First, the common formulas for solving inverse kinematics of S-PMs is derived. Second, the inverse dynamics model is established based on the principle of virtual work. Finally, a novel (UPR + RPS + SPS) + (3-SPS/UP) S-PM is analyzed to illustrate the generality and effectiveness of the solving procedures.

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Experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulators

Cited by 14 publications

References 0 publications

Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

Unified solving inverse dynamics of 6-DOF serial–parallel manipulators

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