Gravity compensation design of Delta parallel robots using gear-spring modules

Nguyen, Vu Linh; Lin, Chia Ching; Kuo, Chin-Hsing

doi:10.1016/j.mechmachtheory.2020.104046

Cited by 42 publications

(14 citation statements)

References 19 publications

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“…Using a spring-gear concept, a planar mechanism based straight open linkage (instead of parallelogram) was statically balanced [15]. The same design has been used for the static balancing of a Delta mechanism [16].…”

Section: Static Balancing Of Diversified Mechanical Archtitecturesmentioning

confidence: 99%

Design of a Five-Degrees of Freedom Statically Balanced Mechanism with Multi-Directional Functionality

Essomba

2021

Robotics

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A statically balanced mechanism is designed as a potential solution for the positioning of surgical instruments. Its kinematics with five degrees of freedom that decouples linear and angular motions is proposed for that objective. The linear motion of its end effector is provided by a classical parallelogram linkage. To enhance its adaptability, a mechanical system allows re-orienting the position mechanism in three different working modes (horizontal, upward and downward) while preserving its static balance. Based on the mechanical concept, a uniformized static balancing condition that considers all working modes is given. The orientation of the end effector is provided by a spherical decoupled mechanism. It generates a remote center of motion which is highly representative of kinematics in surgery requirements. Based on the mechanism kinematics, the evolution of its gravitational potential energy is studied. Two different mechanical concepts are then proposed to generate a compensating elastic potential energy. A CAD model of the entire mechanism has allowed the estimation of all mechanical parameters for the selection of the appropriate tension springs and for carrying out validation simulations. A prototype of the statically balanced mechanism is fabricated and successfully tested.

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Section: Static Balancing Of Diversified Mechanical Archtitecturesmentioning

confidence: 99%

Design of a Five-Degrees of Freedom Statically Balanced Mechanism with Multi-Directional Functionality

Essomba

2021

Robotics

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“…To control parallel mechanisms to perform specific movements, it is essential to know: what are their kinematic and dynamic characteristics, their spatial limitations, and how the different actuators can be controlled to carry out the different planned trajectories. Recently some researches were published describing the use of parallel architecture for designing robots, such as [2], [3], [4], [5], [6], [7] e [8].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Control Using Fuzzy Logic Applied to a Parallel Robot

Sena

Almeida

2023

Preprint

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This work presents the development of Mamdani-type fuzzy controllers for tracking linear trajectories in the workspace of a delta-type linear parallel robot. The system comprises three positioner actuators driven by direct current motors with incremental encoders for displacement reading. A multifunctional data module made the interface between the computer and the machine, capturing the signals coming from the encoders and supplying the control signals to the power circuits that drive the motors. Labview® software was used to implement the controller, using the fuzzy logic toolkit, and Matlab® to analyze and present the experimental results. There are three phases of control: velocity control, position control with trajectory tracking, and trajectory generation. In the analysis of the system's response curves and the obtained data, it was verified a very satisfactory performance of the controllers acting with 100 mm/s. The maximum steady-state error was -1.50mm for X-axis motion, -1.76mm for Y-axis motion, and 1.02mm for Z-axis motion, resulting in a trajectory tracking error of 1.26%.

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“…Currently, manipulators designed with a parallel structure are becoming more widespread in technology. Many different types of these manipulators are known and they provide exceptional functional properties [1][2][3][4]. Herein parallel manipulators equipped with a circular guide are quite promising for practical application.…”

Section: Introductionmentioning

confidence: 99%

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

et al. 2021

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The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

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Gravity compensation design of Delta parallel robots using gear-spring modules

Cited by 42 publications

References 19 publications

Design of a Five-Degrees of Freedom Statically Balanced Mechanism with Multi-Directional Functionality

Design of a Five-Degrees of Freedom Statically Balanced Mechanism with Multi-Directional Functionality

Trajectory Control Using Fuzzy Logic Applied to a Parallel Robot

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

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