Kinematic and dynamic analysis of a 3-DOF parallel mechanism

Zou, Qi; Zhang, Dan; Zhang, Shuo; Luo, Xueling

doi:10.1007/s10999-021-09548-8

Cited by 17 publications

(7 citation statements)

References 35 publications

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“…The proposed mechanism has three same limbs, but there are not three DOFs. According to screw theory, the mobility of the reconfigurable section can be analyzed [37]. x y z T , respectively.…”

Section: Figurementioning

confidence: 99%

Dynamic analysis and optimization of a novel reconfigurable parallel mechanism

Huang

Zhang

Zou

et al. 2022

Preprint

Self Cite

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In this paper, a new reconfigurable parallel mechanism by applying a spatial multi-loop over-constrained mechanism is proposed. The reconfigurable parallel mechanism has 4 degrees of freedom (DOF), and its different performance indices can be continuously changed. According to its inverse kinematic model, its workspace, dexterity, and stiffness are all analyzed. This paper also establishes the dynamics model, and a novel dynamic index is proposed to optimize the proposed mechanism. With these novel performance indices, both the kinematic and the dynamic performance for this mechanism are shown to be greatly improved.

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Section: Figurementioning

confidence: 99%

Dynamic analysis and optimization of a novel reconfigurable parallel mechanism

Huang

Zhang

Zou

et al. 2022

Preprint

Self Cite

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“…Robotic manipulation has given more insight into the popularity of forward and inverse kinematics. Various methods have been developed for the kinematic analysis; two links [9][10][11], three links [12][13][14][15], four links [16][17][18], and five links [19][20], otherwise known as Degrees of Freedom (DOF). This is important in order to determine the appropriate lengths for the links and the reaction at the joints [21][22], as well as the relative movements corresponding to the total length of the robotic application [23].…”

Section: Introductionmentioning

confidence: 99%

Performance Enhancement with Denavit-Hartenberg (D-H) Algorithm and Faster-RCNN for a 5 DOF Sorting Robot

Ajayi,

Arojo,

Ogunnaike

et al. 2024

Advances in Transdisciplinary Engineering

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This work demonstrates the fruit sorting improvement system architecture using the Faster-RCNN algorithm to identify fruits of varying size, colour selection, and segregation. The requirement is for a fruit sorting mechanism with accurate and precise detection with accurate placement capabilities. For this purpose, a 5 DOF robotic arm was built in the laboratory. For the control, an algorithm was developed using Denavit-Hartenberg (D-H) kinematic analysis model. The Image processing was implemented in OpenCV by adopting the Faster-RCNN image processing using NumPy and panda packages. Color clustering was employed to improve fruit detection, and segmentation techniques were used to focus more on the fruit image. The algorithm used was based on baseline architecture within relevant architecture, and with the results that are derived, it shows a great improvement from typical fruit detection systems using non-deep learning techniques, especially for position identification and the edge-to-edge estimation of the fruits. However, it was discovered that the time to detection was the same for all colours and weights, while the sorting duration varies with weight.

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“…The parallel architecture results in an intricate dynamic model and complex singularity problems, which pose challenges in developing forward position solutions, system dynamics, and control for parallel robots compared with their serial counterparts. Furthermore, the smaller workspace of parallel robots adds more complexity to their design and operation [5].…”

Section: Introductionmentioning

confidence: 99%

A Novel Cooperative Control Strategy for Three-Degree-of-Freedom Pneumatic Parallel Mechanism

Huang,

He,

Feng

et al. 2024

Actuators

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The three-degree-of-freedom (3-DoF) parallel mechanism (PM) is widely used due to its simple structure and ability to avoid coupling problems commonly found in high-DoF PMs. The conventional control approach is usually independent control for each branch of the mechanism using a PID controller, without considering the consistency among branches. This paper proposes a novel cooperative control strategy for the 3-DoF PM to achieve both synchronized and differential motion. A pneumatic actuated test rig was constructed to validate the effectiveness of the cooperative controller. The results demonstrate our control approach outperforms the PID controller. Our self-designed platform is functional and intuitive, which can be regarded as a control scheme test bench for a 3-DoF PM.

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Kinematic and dynamic analysis of a 3-DOF parallel mechanism

Cited by 17 publications

References 35 publications

Dynamic analysis and optimization of a novel reconfigurable parallel mechanism

Dynamic analysis and optimization of a novel reconfigurable parallel mechanism

Performance Enhancement with Denavit-Hartenberg (D-H) Algorithm and Faster-RCNN for a 5 DOF Sorting Robot

A Novel Cooperative Control Strategy for Three-Degree-of-Freedom Pneumatic Parallel Mechanism

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