Jerk Analysis of the Spine by Means of a Parallel Manipulator

Gallardo-Alvarado, Jaime

doi:10.5772/7246

Cited by 5 publications

(1 citation statement)

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“…This kind of manipulator has the potential to be used widely in different fields of science and industry, due to its purely translational and precise motion. A great deal of work has been done on several aspects and applications of parallel mechanisms (see, for example, [1][2][3][4]). Like other parallel robots, a 3-UPU parallel mechanism provides high loadcarrying capacity, high velocity, structural stiffness, precision and low inertia, at the expense of limited workspace and difficulties with mechanical design, motion generation, direct kinematics and control.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Experimental Evaluation of a Static Balancing Technique for a New Horizontally Mounted 3-UPU Parallel Mechanism

Dehkordi

Frisoli

Sotgiu

et al. 2012

International Journal of Advanced Robotic Systems

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This paper presents the modelling and experimental evaluation of the gravity compensation of a horizontal 3-UPU parallel mechanism. The conventional Newton-Euler method for static analysis and balancing of mechanisms works for serial robots; however, it can become computationally expensive when applied to the analysis of parallel manipulators. To overcome this difficulty, in this paper we propose an approach, based on a Lagrangian method, that is more efficient in terms of computation time. The derivation of the gravity compensation model is based on the analytical computation of the total potential energy of the system at each position of the end-effector. In order to satisfy the gravity compensation condition, the total potential energy of the system should remain constant for all of the manipulator's configurations. Analytical and mechanical gravity compensation is taken into account, and the set of conditions and the system of springs are defined. Finally, employing a virtual reality environment, some experiments are carried out and the reliability and feasibility of the proposed model are evaluated in the presence and absence of the elastic components.

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Section: Introductionmentioning

confidence: 99%