Explicit dynamic and MTJ Control of a 3-RRS Parallel Manipulator with mass Compensator

Khajepour, Roya; Khajvand, Hassan; Daniali, Hadi Mohammadi; Rastin, M. Ali; Moosavian, S. Ali A.

doi:10.1109/icrom.2017.8466192

Cited by 5 publications

(6 citation statements)

References 7 publications

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“…8 The 1T2R (T: Translation, R: Rotation) PM like 3-RRS PM in general is used in simulating motions, machining devices, telescope positioning and coordinate measuring machines. 9 Many researchers have worked on the different issues related with the 3-RRS PM covering a broad scale of topics, for example, position level kinematic analysis, [10][11][12][13][14] dynamics and dynamic modelling, [15][16][17] design optimization and kinematic performance, [18][19][20] singularities, 21,22 dimensional synthesis, 23 workspace analysis, 24 structure synthesis, 25 static analysis, 26 design modelling, 27 and mechanical error analysis. 28 The issue of PaMo is one which has not been covered substantially in the PM domain, and a few researchers have dealt with it.…”

Section: Introductionmentioning

confidence: 99%

Investigation of parasitic motion in 3-RRS parallel manipulator

Jain,

Jawale

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper investigates the Parasitic Motion (PaMo) in a 3-Degree of Freedom (DoF) 3-RRS Spatial Parallel Manipulator (SPM) for its different link proportions. The position kinematic analysis of the manipulator is addressed initially. The PaMo is investigated and quantified as the percentage of Reachable Workspace (RW) for each link proportion at the tip of an End-Effector (EE), which is attached at the centroid of the moving platform. The PaMo which happens in the constrained DoF is an unwanted motion, and this entire process allows to know the total occupancy of PaMo in comparison to RW for each link proportion. The results are depicted with the aid of 3D plots of the reachable work-volume and the volume of PaMo for each link proportion. In order to evaluate the performance measure, a performance index called as the parasitic motion index ( PaMoI) is proposed. The PaMoI variation pattern is also discussed based on the obtained results. The conclusions are drawn at the end based on this investigation that also identify the provisions to minimize the PaMo.

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Section: Introductionmentioning

confidence: 99%

Investigation of parasitic motion in 3-RRS parallel manipulator

Jain,

Jawale

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…11 They also have a common motion of 1T2R type and are generally used in machining devices, simulating motions, telescope positioning, and coordinate measuring machines. 12 The many issues related with the 3-RRS PM have already been covered in the literature such as kinematic analysis, [13][14][15][16][17] dynamic analysis, [18][19][20] optimization and performance, [21][22][23] singularities, 24,25 dimensional synthesis, 26 workspace, 27 structure synthesis, 28 static analysis, 29 design modeling, 30 and mechanical error analysis. 31 Similarly, the issues related with the 3-RPS PM have also been explored in the literature such as its introduction, 32 velocity and acceleration analysis, 33,34 architecture and constraint singularities, 35 instantaneous motions, 36 kinematic synthesis, [37][38][39] position and workspace analysis, [40][41][42][43] dynamic parameters, 44 architecture optimization, 45 study kinematic mapping of the Euclidean group SE (3), 46,47 operation modes, 48 and its application in thrust-vectoring propulsion.…”

Section: Introductionmentioning

confidence: 99%

“…The many issues related with the 3- R RS PM have already been covered in the literature such as kinematic analysis, 13–17 dynamic analysis, 18–20 optimization and performance, 21–23 singularities, 24,25 dimensional synthesis, 26 workspace, 27 structure synthesis, 28 static analysis, 29 design modeling, 30 and mechanical error analysis. 31…”

Section: Introductionmentioning

confidence: 99%

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

Jain,

Jawale

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper strives to compare between two 3-Degree of Freedom (DoF) Spatial Parallel Manipulators (SPMs) belonging to the 3-[PP]S-Y family viz., 3-RRS and 3-RPS. The planes of the manipulators belong to this family are arranged in a Y-pattern such that they intersect at 120° in a common line. Both of these manipulators have a common motion of 1T2R (T: Translation, R: Rotation) type, and their comparison in this work is carried out by considering the effects of link tolerance and parasitic motions, for the same task space and End-Effector (EE) positions. Their respective position kinematic analysis is discussed initially. The comparison is then carried out by considering two different cases based on the sizes of the moving platform relative to the base platform. The errors are quantified and all the comparative results are represented with the aid of plots. The conclusions are summarized at the end that allow to know the better of the two manipulators for the given effects.

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“…Tetik 19 obtained the reachable workspace and safe working zone of 3-RRS PM along with its dynamics and control. Khajepour et al 20 developed a 3-RRS PM in which by using a mass compensator the torques produced by the servomotors are decreased.…”

Section: Introductionmentioning

confidence: 99%

Study of the effects of link tolerances to estimate mechanical errors in 3-RRS parallel manipulator

Jain

Jawale

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents the mechanical error estimation under the effects of link tolerances in a 3-degree-of-freedom (DoF) 3-RRS Spatial Parallel Manipulator (SPM). Position level kinematic analysis and workspace analysis in the form of reachable and orientation workspace are carried out initially. Then, the effect of link tolerances on individual link is studied at the position of mid-point and orientation of the movable platform. The corresponding mechanical errors are estimated. The effect of link tolerance variation is studied to know the pattern of mechanical error. The 3-D CAD model in SolidWorks is used to validate the results. The conclusions are drawn that lead to error minimization at the tolerance design stage.

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Explicit dynamic and MTJ Control of a 3-RRS Parallel Manipulator with mass Compensator

Cited by 5 publications

References 7 publications

Investigation of parasitic motion in 3-RRS parallel manipulator

Investigation of parasitic motion in 3-RRS parallel manipulator

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

Study of the effects of link tolerances to estimate mechanical errors in 3-RRS parallel manipulator

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