Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

Mohan, Santhakumar; Corves, Burkhard

doi:10.5194/ms-8-235-2017

Cited by 12 publications

(6 citation statements)

References 23 publications

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“…The inverse position solutions determine the working modes of a manipulator. Let us revisit equations (10) and (11b). It can be learnt that both h 3i (k B i A i k6 ¼ h 1i þ h 2i ) and x 1i have two solutions for a given MP pose, thus each limb of the PM has 2 � 2 ¼ 4 configurations, as displayed in Figure 4.…”

Section: Working Mode Analysismentioning

confidence: 99%

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Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Inspired by dual-arm-like manipulation, a novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed. Compared with general 6-DOF parallel manipulators with six limbs, this new manipulator actuated by spherical motion generators has only two limbs, which brings advantages such as fewer active limbs for avoiding interference, larger reachable and orientational workspace for complex operating, more actuators integrated in active modules for decreasing installation errors and increasing compactness. In this paper, the kinematics of this novel parallel manipulator is solved and illustrated, covering its inverse and forward position analysis, workspace and singularities. The kinematic study reveals interesting features of this manipulator such as multiple working and assembly modes, small footprint and large workspace volume with high dexterity. Numerical examples of kinematic analysis are included. Practical application of the new manipulator is illustrated.

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Section: Working Mode Analysismentioning

confidence: 99%

“…There are also 6-DOF PMs with three limbs, with two actuated joints per limb. Examples are the 3-RRPS, 8 3-RPRS, 9,10 3-RRRS and 3-RRSR 11 configurations. Other three-limb type PMs include 6-DOF PM with three planar mechanism limbs, 12 a 3-PPPS PM.…”

Section: Introductionmentioning

confidence: 99%

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…In this case, the moving platform will be vertical and perpendicular to the rotation axis of the active revolute joints which cannot happen in practice due to the limited working range of spherical joints. Similarly, if the unit vector n i is parallel to the unit vector s i1 , the condition given by equation (37) will happen. This configuration will occur if the spherical joints B i and the end-effector O 1 lie on the plane which passes through the origin O and orthogonal to the rotation axes of the i th limbs.…”

Section: Singularity Analysismentioning

confidence: 99%

“…Three linear actuators of limbs also are positioned on the same plane of the circular rail. Later, Nag et al 36 and Mohan et al, 37 respectively, studied the forward kinematic analysis and the dynamic problem of this mechanism with the different name 3- RP RS parallel manipulator. Recently, Nguyen et al 38 investigated the static and dynamic aspects of the 3- C RS parallel manipulator.…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis of an augmented 3-RPSP tripod mechanism with six degrees of freedom for bone reduction surgery

Phu

Essomba

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Robotic-assisted bone reduction surgery consists in using robots to reconnect patients’ bone fragments prior to fracture healing. The goal of this study is to propose a novel augmented 3-RPSP tripod mechanism with six degree of freedom for longitudinal bone reduction surgery. Its inverse kinematic model is studied and its forward kinematic model is solved by establishing the constraint equations, applying Sylvester’s dialytic method and finding the solutions of the resulting polynomial equation. The velocity model is calculated and its Jacobian matrix is used to identify its singular configurations. In comparison to the Stewart–Gough platform that is a typical mechanism used in this application, the proposed mechanism offers larger reachable workspace which is an important aspect in the femoral shaft bone reduction. A Physiguide and Msc Adams software are used to carry out a simulation of a real femur fracture reduction using the proposed mechanism to validate its suitability. A robotic prototype has been designed and manufactured in order to test its capability of performing diaphyseal femur reduction surgery.

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“…[3,4]. At present, parallel robots are widely used in high-precision fields [5][6][7] such as aviation manufacturing, electronic packaging, and 3D printing.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumption

Zhang

Ming

2019

Applied Sciences

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A study on trajectory planning and optimization for a Par4 parallel robot was carried out, based on energy consumption in high-speed picking and placing. In the end-effector operating space of the Par4 parallel robot, the rectangular transition of the pick-and-place trajectory was rounded by a Lamé curve. A piecewise design method was adopted to accomplish trajectory shape planning for displacement, velocity and acceleration. To make the Par4 robot’s end run more smoothly and to reduce residual vibration, asymmetric fifth-order and sixth-order polynomial motion laws were employed. With the aim of reaching the minimum mechanical energy consumption for the Par4 parallel robot, the recently proposed Grey Wolf Optimizer (GWO) algorithm was adopted to optimize the planning trajectory. The validity of the design method was verified by experiments, and it was found that the minimum mechanical energy consumption of the optimal trajectory planned under the law of fifth-order polynomial motion is lower than that of sixth-order polynomial motion. In addition, the experiments also revealed the optimal values of Parameters e and f, which were the parameters of the Lamé curve function. Parameter e can be calculated as half the pick-up span for the minimum mechanical energy consumption, unlike parameter f, whose optimal value depends on specific circumstances such as the pick-and-place coordinates and the pick-up height.

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Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

Cited by 12 publications

References 23 publications

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Kinematic analysis of an augmented 3-RPSP tripod mechanism with six degrees of freedom for bone reduction surgery

Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumption

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