Kinematic analysis and workspace optimization of a novel 4R<u>P</u>SP + PS parallel manipulator

Zarkandi, Soheil

doi:10.1080/15397734.2020.1725564

Cited by 16 publications

(22 citation statements)

References 24 publications

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“…When unit vectors i mp , j mp , and k mp in equation ( 5) (and consequently the arrays of R mp in equation ( 4)) are known, then the values of Euler angles ' 1 , ' 2 , and ' 3 can be computed readily. 4,33…”

Section: Local Coordinate Frame and Rotation Matrices Of The Moving Pmentioning

confidence: 99%

“…Considering columns and rows of matrix R mp , we can rewrite equation (6) where R mp,ð1À3ÞÂi (R mp,iÂð1À3Þ ) denotes the ith column (row) of matrix R mp in equation (4). Unit vectors k and u i are perpendicular to n i , and the angle from k to u i is i .…”

Section: Inverse Position Kinematicsmentioning

confidence: 99%

“…After calculating i mp , j mp , and k mp , the arrays of R mp in equations ( 5) and ( 4) are known, and the corresponding values of Euler angles (' 1 , ' 2 , ' 3 ) can be computed mathematically. 4,33 As a case study, the forward position kinematics of the symmetrical 3-PRR SPM is analyzed with the following values of kinematic parameters:…”

Section: Forward Position Kinematicsmentioning

confidence: 99%

“…The first parallel manipulator has six degrees-of-freedom (DOFs) and was proposed by Gough and Whitewall 2 as the tire testing machine, and then used by Stewart 3 as the motion simulation platform. Nowadays, parallel manipulators are used in a wide range of applications, such as flight simulators, 4 pick-and-place, 5 medicine, 6 haptics, 7 etc. Moreover, in many industrial devices, such as solar panels, space antenna, telescopic mechanisms, and machine tools, it is required to orient a rigid body without changing its position.…”

Section: Introductionmentioning

confidence: 99%

“…To alleviate these shortcomings, different approaches have been taken by scholars: (a) dimensional synthesis of the manipulators to have an optimal workspace 26,11 ; (b) determination of the maximal singularity-free workspace of parallel manipulators 27,28 ; (c) employment of redundancy on non-redundant parallel manipulators 29 ; and (d) presentation of singularity-free parallel manipulators. 4,13,30 Figure 1 shows a CAD model of the proposed 3-PRR SPM having an equiangular star-shaped base and an equilateral moving platform connected to each other through three identical PRR legs. Each PRR leg has a proximal link and a distal link.…”

Section: Introductionmentioning

confidence: 99%

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Kinematic analysis and optimal design of a novel 3-PRR spherical parallel manipulator

Zarkandi

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper introduces a novel three degree-of-freedom spherical parallel manipulator with 3-PRR topology, where P and R denote a curved prismatic joint and a revolute joint, respectively. The first revolute joint of each PRR leg is actuated via a double Rzeppa-type driveshaft, and hence underlined. The manipulator has at most eight working modes and eight assembly modes. However, only one working mode and one assembly mode of the manipulator are acceptable during its motion which can be easily identified. Singularity and kinematic dexterity analyses reveal that the proposed 3-PRR spherical parallel manipulator has no forward kinematic singularity for a wide range of rotation of the moving platform around its central axis. An optimal design of the manipulator is also presented having a workspace with good kinematic dexterity.

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Section: Local Coordinate Frame and Rotation Matrices Of The Moving Pmentioning

confidence: 99%

Section: Inverse Position Kinematicsmentioning

confidence: 99%

Section: Forward Position Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Kinematic analysis and optimal design of a novel 3-PRR spherical parallel manipulator

Zarkandi

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Latifinavid

Azizi

2023

J Intell Robot Syst

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This paper focuses on investigating a parallel camera stabilizing manipulator with three angular degrees of freedom controlled by three linear actuators. An experimental setup is designed and manufactured to actively isolate the host vehicle's disturbing motions. The kinematic analysis of the manipulator combined with a controller is used to disturbance rejection coming from the base platform. Two inertia measurement units (IMU) are used for real-time feedback from the base and up-per platforms' orientation. A Kalman filter is implemented for handling the noises and drifts of the IMUs data. Inverse kinematics of the manipulator is used for calculating the actuating commands and velocity control of the linear motors. The experimental results of the proposed camera stabilizing system are shown. The results indicate its good capability in following the reference input of the controller. Considering the closed kinematic chain of the system and its stiff parallel architecture, this system can be a good choice for the stabilizing system of ground and aerial vehicles.

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Type synthesis of the fully-decoupled two-rotational and one-translational parallel mechanism

Zhang,

Wei,

Zhang

et al. 2023

J Mech Sci Technol

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Kinematic analysis and workspace optimization of a novel 4RPSP + PS parallel manipulator

Cited by 16 publications

References 24 publications

Kinematic analysis and optimal design of a novel 3-PRR spherical parallel manipulator

Kinematic analysis and optimal design of a novel 3-PRR spherical parallel manipulator

Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Type synthesis of the fully-decoupled two-rotational and one-translational parallel mechanism

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