Inverse Kinematic Solutions for a Fully Parallel Robot with Singularity Robustness

Perng, Ming-Hwei; Hsiao, Lin

doi:10.1177/02783649922066402

Cited by 13 publications

(7 citation statements)

References 17 publications

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“…It is assumed that the platform is tangent to the wave surface. The formulation of inverse kinematic of the Stewart platform can be found in some research by (Merlet 2004), (Liu, Fitzgerald et al 1993), (Perng and Hsiao 1999) and (Salcudean, Drexel et al 1994). To find the inverse kinematics of the mobile plate based on the geometry platform in Figure 5, the coordinates XYZ of points A 1 , A 2 , A 3 , A 4 , A 5 , A 6 must be known, as shown in Figure 5.…”

Section: Inverse Kinematics Of the Stewart Platformmentioning

confidence: 99%

A NovelWave Energy Converter Using the Stewart Platform

Lotfi

Huang

2014

JGE

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Ocean wave is one of the biggest sources of renewable energy that is economically attractive. However, technology of harvesting wave power is relatively undeveloped compared to other renewable energy technologies. Finding optimal structures of wave energy converter (WEC) is still an open research problem. The idea of using Stewart platform as a WEC is for the first time proposed in this paper. Its key module is a Stewart platform, which is a parallel mechanism with six degrees of freedom, used to convert the motion induced by waves to the prismatic motions of multiple hydraulic/ pneumatic cylinders. The proposed new type WEC can be used in the offshore wave power generation systems and put in any place where there exist roaring waves. The mathematical model has been set up and the numerical simulation has been performed to verify the effectiveness of the proposed converter. The simulation results show that more energy can be generated by this new type of converter than other existing WECs.

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Section: Inverse Kinematics Of the Stewart Platformmentioning

confidence: 99%

A NovelWave Energy Converter Using the Stewart Platform

Lotfi

Huang

2014

JGE

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“…Although the second approach may lead to leg forces that are larger than pre-set limits, it is significantly faster than the first approach. A similar optimization procedure was also proposed by Perng (472), with another penalty constraint, to avoid the singularity. Jui (295) and Ider (261) have shown that if at a singularity the drop of rank of the inverse kinematic jacobian is only one, then it may be possible to control the acceleration so that the forces in the legs remain bounded.…”

Section: Singularity-free Path-planning and Workpace Enlargementmentioning

confidence: 99%

Parallel Robots

2006

Solid Mechanics and Its Applications

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The fundamental questions arising in mechanics are: Why?, How?, and How much? The aim of this series is to provide lucid accounts written by authoritative researchers giving vision and insight in answering these questions on the subject of mechanics as it relates to solids.The scope of the series covers the entire spectrum of solid mechanics. Thus it includes the foundation of mechanics; variational formulations; computational mechanics; statics, kinematics and dynamics of rigid and elastic bodies: vibrations of solids and structures; dynamical systems and chaos; the theories of elasticity, plasticity and viscoelasticity; composite materials; rods, beams, shells and membranes; structural Published by Springer,

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“…However, it is an expensive solution to the problem because of the additional actuators and the complicated control of the manipulator caused by actuation redundancy. Another approach concerns with motion planning to pass through singularity [26]- [31], i.e. a parallel manipulator may track a path through singular poses if its velocity and acceleration are properly constrained.…”

Section: Introductionmentioning

confidence: 99%

On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities

Briot¹,

Arakelian

2011

Journal of Mechanisms and Robotics

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In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting the favorable force distribution, i.e., the wrench applied on the end-effector by the legs and external efforts must be reciprocal to the twist along with the direction of the uncontrollable motion. The previous studies have proposed the optimal control conditions for the manipulators with rigid links and flexible actuated joints. The different polynomial laws have been obtained and validated for each examined case. The present study considers the conditions for passing through Type 2 singular configurations for the parallel manipulators with flexible links. By computing the inverse dynamic model of a general flexible parallel robot, the necessary conditions for passing through Type 2 singular configurations are deduced. The suggested approach is illustrated by a 5R parallel manipulator with flexible elements and joints. It is shown that a 16th order polynomial law is necessary for the optimal force generation. The obtained results are validated by numerical simulations carried out using the software ADAMS.

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Inverse Kinematic Solutions for a Fully Parallel Robot with Singularity Robustness

Cited by 13 publications

References 17 publications

A NovelWave Energy Converter Using the Stewart Platform

A NovelWave Energy Converter Using the Stewart Platform

Parallel Robots

On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities

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