Force transmission analyses with dimensionally homogeneous Jacobian matrices for parallel manipulators

Kim, Sung-Gaun; Ryu, Jeha

doi:10.1007/bf02990296

Cited by 9 publications

(7 citation statements)

References 11 publications

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“…Then, whatever the homogenization technique (i.e. for example using weighting matrices [19,20] or using two or three points on the mobile frame [12][13][14]), there is no direct comprehensible physical significance (according to our knowledge) of the norm of such homogenized velocity or homogenized force vector. Thus, the significance remaining for the condition number and other singular values based indices reduces to singularity 1 "T" means translational dof, and "R" means rotational dof.…”

Section: General Approachmentioning

confidence: 99%

“…Among the significances of singular values-as applied in the case of non-redundant robot with homogeneous actuators and homogeneous dofs-is that the minimum and maximum singular values express how the joint errors are amplified in the operational space. In fact, we have:    m δq J δx δx J δq (14) where δq and δx are very small displacements in the joint and operational spaces respectively. Then, if min However, in case of robots with mixed dofs, singular values and based-upon indices are no more useful.…”

Section: Precision Measures: Operational Resolutionsmentioning

confidence: 99%

“…Based on such reasoning, [13] developed a homogeneous Jacobian matrix by relating the velocities of three non-collinear points of the mobile frame to the actuators velocities. Also, [14] theoretically extended the idea of [13] and applied the same technique for the study of force-related performance. Note that motion/force transmissibility indices [4][5][6] do not present homogeneity problem and can also be considered as an approach to overcome this issue.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

On the performance evaluation and analysis of general robots with mixed dofs

Shayya¹,

Krut

Baradat³

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Section: General Approachmentioning

confidence: 99%

Section: Precision Measures: Operational Resolutionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

On the performance evaluation and analysis of general robots with mixed dofs

Shayya¹,

Krut

Baradat³

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…transmission capability of PKM [8]. Furthermore, other research approaches proposed to separate the translational and the rotational part of the Jacobian matrix in order to identify separated performance indices [9].…”

mentioning

confidence: 99%

Power manipulability analysis of redundantly actuated parallel kinematic manipulators with different types of actuators

Lorenz

Brinker

Prause

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Spatial object manipulation is typically accomplished by parallel kinematic manipulators (PKM), whose number of actuators is equal to the required number of degrees of freedom. In order to improve the performance and reliability of PKM, their basic configuration can be extended by redundant actuators. This paper is devoted to the special case of PKM with both linear and rotational actuation, which can be operated simultaneously. Corresponding manipulators face the problem of coexisting translational and rotational joint space parameters inducing inhomogeneous Jacobian matrices. In this context, power manipulability ellipsoids provide a suitable performance evaluation for PKM featuring different types of redundantly applicable actuators. Accordingly, this research intends to analyze the kinetostatic performance of redundantly actuated PKM and to demonstrate their efficiency in contrast to non-redundant drive configurations. The analyses exemplarily are focused on the translational 3-RPC manipulator, since it can be equipped with both revolute and/or prismatic joint actuation.

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“…The quality of motion transmission of parallel manipulators was successfully studied in [8][9][10][11]. The quality of motion of manipulators with three degrees of freedom has been evaluated by means of a kinetostatic indicator, which is similar to the pressure angle [12].…”

mentioning

confidence: 99%

On the dynamic properties and optimum control of parallel manipulators in the presence of singularity

Briot

Arakelian

2008

2008 IEEE International Conference on Robotics and Automation

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It is known that a parallel manipulator with a singular configuration can gain one or more degrees of freedom and become uncontrollable. That is it might not reproduce a stable motion under a prescribed trajectory. However, it is proved experimentally that there is possible passing through the singular zones. This was simulated and shown on numerical examples and illustrated on several parallel structures. In this paper, we determine the optimal dynamic conditions generating a stable motion inside the singular zones. The obtained results show that the general condition for passing through a singularity can be defined as follows: the endeffector of the parallel manipulator can pass through the singular positions without perturbation of motion if the wrench applied on the end-effector by the legs, and external efforts of the manipulator are orthogonal to the twist along the direction of the uncontrollable motion. This condition is obtained from the inverse dynamics and analytically demonstrated by the study of the Lagrangian of a general parallel manipulator. Numerical simulations are carried out using the software ADAMS and validated by experimental tests.

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Force transmission analyses with dimensionally homogeneous Jacobian matrices for parallel manipulators

Cited by 9 publications

References 11 publications

On the performance evaluation and analysis of general robots with mixed dofs

On the performance evaluation and analysis of general robots with mixed dofs

Power manipulability analysis of redundantly actuated parallel kinematic manipulators with different types of actuators

On the dynamic properties and optimum control of parallel manipulators in the presence of singularity

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