Kinematic and dynamic identification of parallel mechanisms

Renaud, Pierre; Albán, Óscar Andrés Vivas; Andreff, Nicolas; Poignet, Philippe; Martinet, Philippe; Pierrot-Deseilligny, Marc

doi:10.1016/j.conengprac.2005.06.011

Cited by 48 publications

(47 citation statements)

References 23 publications

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“…5). In general it is not possible to formulate an analytical solution of the forward kinematics of parallel mechanisms (see [8]). In consequence, the mapping of the structural symmetry to the articular-coordinates space symmetry of symmetrical-parallel mechanisms is established as a conjecture (see section 3.1).…”

Section: Resultsmentioning

confidence: 99%

“…5 is analogous to the forward kinematics of parallel mechanisms: it requires the solution of the constraint kinematic equations given the vector of joint variables. In general it is not possible to express the forward kinematics of parallel mechanisms in an analytical manner [8]. In consequence, a proof of the symmetrical conjecture of articularvariables space is not straightforward.…”

Section: Conjecture Articular-variables Symmetrical Space Of Symmetrmentioning

confidence: 99%

“…If a linear model (joint gain and offset) is assumed for the articular coordinates, then the articular-variables space symmetry is required too. The proof of an articular-variables symmetrical space theorem is analogous to the forward kinematics problem of parallel mechanisms that in general has only numerical solution [8]. In consequence, a conjecture for the articular-variables space symmetry is proposed in section 3.…”

Section: Introductionmentioning

confidence: 99%

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Symmetrical Observability of Kinematic Parameters in Symmetrical-Parallel Mechanisms

Durango¹,

Restrepo²,

Ruiz-Salguero³

et al. 2014

Proceedings of 10th World Congress on Computational Mechanics

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Abstract. This article presents an application of symmetry groups in symmetrical observability of kinematic parameters of parallel mechanisms. The devised concepts are used in the domain of Kinematic Identification (KI). The investigation takes advantage of the mechanism structural symmetries and presents the following contributions: (i) a conjecture that allows mapping the symmetries of the mechanism into the articular-variables space, (ii) the necessary conditions to express leg parameters in coordinate systems which allow symmetrical observability, and (iii) a procedure for exploiting symmetries in pose selection for KI that reduces the design-of-experiments costs to (1/n legs ) when compared to a KI procedure in which each leg configurations are selected independently. An application of the symmetrical observability is presented through the simulated KI of a 3RRR symmetrical parallel mechanism.

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Section: Resultsmentioning

confidence: 99%

Section: Conjecture Articular-variables Symmetrical Space Of Symmetrmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Symmetrical Observability of Kinematic Parameters in Symmetrical-Parallel Mechanisms

Durango¹,

Restrepo²,

Ruiz-Salguero³

et al. 2014

Proceedings of 10th World Congress on Computational Mechanics

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show abstract

“…For the same robot, in ) the calibration according to the method of the IKM is utilized too. Renaud et al (2006b) provided a method for the complete identification of the physical model of a H4 robot. The researchers identify the parameters of the robot, describing the geometric parameters and the dynamic ones, with which they explained the effects of the masses, inertias and friction that act on the physical behavior.…”

Section: Calibration With Vision As Measurement Devicementioning

confidence: 99%

Calibration of Parallel Manipulators and their Application to Machine Tools. A State of the Art Survey

Hernández-Martínez

López-Cajún

Jáuregui-Correa³

2010

IIT

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Some of the main investigations on calibration methods of parallel mechanisms are briefly discussed in this work. Initially, the identification of errors in these structures applied to machine tools is presented, later the kinematics and the concept of parallel mechanisms calibration is introduced. Additionally, the main characteristics of the existing methods of calibration are discussed, such as the parametrical approaches, the calibration methods with internal/external measuring devices, innovative calibration methods and works that provide assistance to this aim.Keywords: Parallel mechanisms, calibration, machine tools, inverse kinematics, forward kinematics. Resumen

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“…Moreover, it is difficult to maintain the working conditions constant not only throughout these stages, but also within the same one. For parallel manipulators, the direct approach has been applied (Renaud et al, 1993;Guegan et al, 2003;Farhat et al, 2008). Meanwhile, the indirect approach has been proposed (Grotjahn et al, 2004;Abdellatif et al, 2007).…”

Section: Introductionmentioning

confidence: 99%