Improving static stiffness of the <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" altimg="si0044.gif" overflow="scroll"><mml:mn>6</mml:mn><mml:mi mathvariant="normal">-</mml:mi><mml:munder accentunder="true"><mml:mrow><mml:mi mathvariant="normal">R</mml:mi></mml:mrow><mml:mrow><mml:mo stretchy="true">̲</mml:mo></mml:mrow></mml:munder><mml:mi>US</mml:mi></mml:math> parallel manipulator using inverse singularities

Aginaga, Jokin; Zabalza, Isidro; Altuzarra, Oscar; Najera, J.

doi:10.1016/j.rcim.2012.02.003

Cited by 27 publications

(23 citation statements)

References 16 publications

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“…7,8 When the constrained force F ci is exerted on SPRtype linear active legs r i at spherical joint S and constraint conditions (F ci or i and F ci jjR) are satisfied (see Figure 2(b)), the transverse elastic deformation dc i of r i at its end can be solved as below 19…”

Section: Solving Elastic Deformation Of Pm Solving Elastic Deformatiomentioning

confidence: 99%

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Solving elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry

Lü

Cong

Chen

et al. 2013

Proceedings of the Institution of Mechanical Engineers, Part C:

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It has been a significant and challenging issue to determine the elastic deformation of parallel manipulators for their precision analysis and control. A new method is proposed and studied for solving the elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry. First, an original simulation mechanism of a parallel manipulator is constructed; each of the vectors in the force transformation matrix of the parallel manipulators is constructed by this simulation mechanism. The active/constrained wrench and their pose are determined based on the Newton-Euler formulation. Second, the elastic deformed dimensions of the active legs are determined based on the elastic deformation equation and the active/constrained wrench. Third, a new simulation mechanism of this parallel manipulator is constructed by replacing the original dimensions of active legs with the deformed dimensions of active legs and the elastic deformations of parallel manipulators are solved using the pose difference between the original and new simulation mechanisms. Finally, two parallel manipulators are illustrated and their elastic deformations are solved and verified by both analytic approach and finite element method.

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Section: Solving Elastic Deformation Of Pm Solving Elastic Deformatiomentioning

confidence: 99%

“…Xu and Li 7 studied mobility and stiffness of a 3-PRC PM via screw theory. Aginaga et al 8 improved static stiffness of 6-RUS PM by avoiding singular configurations. Zhang et al 9 solved the elastic deformations and rigid body motions of 3-PRR PM with flexible links.…”

Section: Introductionmentioning

confidence: 99%

Solving elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry

Lü

Cong

Chen

et al. 2013

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…Therefore, the accuracy of experimental methods cannot be guaranteed. To decrease the effects of the clearance and backlash, Aginaga [4] applied an external force in the positive and negative directions consecutively to obtain an average result, although the author admitted that the error sources were not excluded successfully in the experiments. Applying a preload on a parallel manipulator is another method to reduce the clearance and backlash.…”

Section: Introductionmentioning

confidence: 99%

“…El-Khasawneh [12] integrated the compliance of the limb and the compliance of the actuator into the stiffness analysis of a Stewart platform. The compliances of the limb and the actuator drew much research attention [4,5,7,[15][16][17][18]. Cheng [7] found that the deformation of a parallel manipulator using a FEA method for stiffness analysis is larger than that obtained using an algebraic method, in which the actuator and the limb are assumed to be flexible.…”

Section: Introductionmentioning

confidence: 99%

Stiffness analysis of parallelogram-type parallel manipulators using a strain energy method

Yan

Ong

Nee

2016

Robotics and Computer-Integrated Manufacturing

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“…A comprehensive singularity analysis can be conducted by calculating the determinant of the Jacobian matrix of the PRs. Singularity classification and identification methods are carried out to evaluate the Jacobian matrix of the PRs in [13][14][15]. Serracin et al [16] concentrated on finding the border that separates the positive determinant and negative determinant of the Jacobian matrix in all the configurations to define a singular configuration.…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematics and Singularity Analysis for a 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot

Lin

et al. 2012

International Journal of Advanced Robotic Systems

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This paper addresses the kinematics and graphical representation of the singularity configuration of a hybrid-driven cable-suspended parallel robot (HDCPR) with three translational degrees of freedom (DOFs). Applying the closed-loop vector method and geometric methodology, inverse kinematics of the HDCPR needed for singularity analysis is performed. For the sake of singularity condition calculation within the reachable workspace, the procedure utilizing analytical methodology and gradual search algorithm is presented. Simulation results demonstrate the validity of the kinematics and singularity analysis developed.

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Improving static stiffness of the 6-R̲US parallel manipulator using inverse singularities

Cited by 27 publications

References 16 publications

Solving elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry

Solving elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry

Stiffness analysis of parallelogram-type parallel manipulators using a strain energy method

Inverse Kinematics and Singularity Analysis for a 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot

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