Kinematic design and analysis of a 6-DOF spatial five-Bar linkage

Wu, Xiaoyong; Wang, Kun; Wang, Yujin; Bai, Shaoping

doi:10.1016/j.mechmachtheory.2020.104227

Cited by 15 publications

(10 citation statements)

References 36 publications

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“…In this section, we compared the performance of this PM with a five-bar linkage. 47 For the workspace evaluation of this linkage, the same dimensional parameters as the proposed PM were adopted. The three Euler angles are bounded in [−π/2, π/2], as the workspace is more concentrated within this cube.…”

Section: Workpace Analysismentioning

confidence: 99%

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Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Inspired by dual-arm-like manipulation, a novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed. Compared with general 6-DOF parallel manipulators with six limbs, this new manipulator actuated by spherical motion generators has only two limbs, which brings advantages such as fewer active limbs for avoiding interference, larger reachable and orientational workspace for complex operating, more actuators integrated in active modules for decreasing installation errors and increasing compactness. In this paper, the kinematics of this novel parallel manipulator is solved and illustrated, covering its inverse and forward position analysis, workspace and singularities. The kinematic study reveals interesting features of this manipulator such as multiple working and assembly modes, small footprint and large workspace volume with high dexterity. Numerical examples of kinematic analysis are included. Practical application of the new manipulator is illustrated.

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Section: Workpace Analysismentioning

confidence: 99%

“…The PM was proposed on the basis of a novel design of 6-DOF five-bar linkage. 47 Comparing with the five-bar linkage, this PM has enhanced performance in workspace and dexterity. The inverse kinematic model is established with an analytical approach, based on which the corresponding working mode is studied.…”

Section: Introductionmentioning

confidence: 99%

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…18,19,20 The 6-DOF positioning mechanism is presented in Refs 21. and 22, but the positioning accuracy is not high. However, there are few reports on the 12-DOF macro–micro positioning mechanism, in which 12-DOF includes the degrees-of-freedom of both the macro and micro mechanism.…”

Section: Introductionmentioning

confidence: 96%

“…This model includes both the mechanical system model and drive system model. Research on mechanical system modeling using kinematics is common in the existing literature, 12,22,23 but the drive system modeling is ignored. However, most of the actuators are servo motor and piezoelectric actuator, and the inherent hysteresis nonlinearity affects the output displacement seriously.…”

Section: Introductionmentioning

confidence: 99%

Integration modeling and control of a 12-degree-of-freedom macro–micro dual parallel manipulator

Lin

Gao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Parallel manipulator systems with large workspace and high-accuracy positioning are attractive for a variety of accuracy engineering applications. In this article, a new 12-DOF macro–micro dual parallel manipulator is presented, which comprises a 6-PSU macro symmetrical parallel manipulator and a 6-SPS micro orthogonal parallel manipulator. This novel mechanism can not only realize a large range of movement but also accurate positioning. To achieve high-accuracy control, a macro–micro integrated model of the macro–micro dual parallel mechanism is proposed, including a mechanical system model and drive system model. Aiming at the trajectory planning for a multi-degree-of-freedom (DOF) manipulator, a smooth optimization trajectory planner for the 12-DOF macro–micro dual parallel manipulator is presented to realize smooth trajectory generation. A high-accuracy motion controller combining feedback and feedforward is developed based on the drive system model. Finally, the experiment well validates the correctness of the integrated model and motion control algorithm and reveals that the proposed mechanism is expected to be adopted into micro scale manipulations.

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“…In practice, an aircraft model will move along the given trajectory, which usually contains pitch, roll, yaw, heave, surge, and sway motion about the reference coordinate system, so a kind of 6-DOF mechanisms with high precision and stabilization are required to achieve the demands of corresponding tests. 1,2 Parallel manipulators are closed-loop mechanical structures composed of a moving platform coupled to a fixed base by serial limbs, which usually can provide multi-degree of freedom with great comprehensive performance, 3,4 and they will be a good choice for wind tunnel tests.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator

Wang

2022

International Journal of Advanced Robotic Systems

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Modeling and analysis of inverse kinematics and dynamics for a novel parallel manipulator are established in this article. The manipulator is a spatial mechanism, which consists of six identical kinematic chains connecting to the moving platform. Firstly, screw theory is applied to compute the degree of freedom of this manipulator. Then the inverse position is achieved based on the homogeneous coordinate transformation principle while motion law of the moving platform is given. Furthermore, the first-order influence coefficient method is employed to obtain the Jacobian matrices of the considered manipulator and the links, so do the velocities. Afterward, the rigid-body dynamics model is derived from the Lagrange formulation. To obtain the integrated inverse dynamics model, an approach for simplified flexible dynamics analysis is proposed. Finally, simulations are conducted to compute the position and driving force of this considered manipulator, which validate the new method simultaneously.

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Kinematic design and analysis of a 6-DOF spatial five-Bar linkage

Cited by 15 publications

References 36 publications

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

Integration modeling and control of a 12-degree-of-freedom macro–micro dual parallel manipulator

Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator

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