Kinematic design and novel mobility analysis of a new 3D pantograph decoupled manipulator

Magdy, Mahmoud; Fanni, Mohamed; Mohamed, Abdelfatah M.; Miyashita, Tadashi

doi:10.1016/j.mechmachtheory.2017.07.010

Cited by 15 publications

(16 citation statements)

References 9 publications

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“…Ding and Dai, 2,29,30 for example, analyzed the mobility of the Hoberman switch-pitch ball and the articulated ball by means of decomposition methods. Magdy 31 proposed a novel method via a 3 D velocity diagram for analyzing the mobility of serial, parallel, or hybrid mechanisms. Cao 7 suggested a systematic method to study both the mobility analysis and the structural synthesis of two-layer and two-loop mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Mobility and singularity analyses of a symmetric multi-loop mechanism for space applications

Ángeles

Guo

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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A symmetric, double-tripod multi-loop mechanism (DTMLM), for aerospace applications, is the subject of this paper. Its mobility and singularity are analyzed, while introducing a novel tool, the cell-division method for singularity analysis, applicable to multi-loop mechanisms. The key principle of this method lies in replacing the singularity analysis of the original multi-loop mechanism with: (1) that of an equivalent simpler parallel mechanism; (2) the constraint analysis between loops; and (3) the singularity analysis of simpler kinematic subchains. Then, the mechanism is transformed into a simpler, equivalent parallel mechanism with three identical kinematic subchains. Its mobility and singularity are analyzed based on screw algebra, which leads to a key conclusion about the geometric properties of this mechanism. Results show that: (a) the DTMLM has three degrees of freedom (dof), i.e., two rotational dof around two intersecting axes lying in the middle plane of the mechanism, and one translational dof along the normal to the said plane (2R1T); and (b) the singularities of the 3-RSR parallel mechanism are avoided in the DTMLM by means of prismatic joints, singularities in the DTMLM occurring on the boundary of its workspace. Thus, the DTMLM has a 2R1T mobility everywhere within its workspace. When a set of multi-loop mechanisms of this kind are stacked as modules to assemble a multi-stage manipulator for space applications, the modules can be designed so that, under paradigm operations, all individual loops operate within their workspace, safe from singularities.

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Section: Introductionmentioning

confidence: 99%

Mobility and singularity analyses of a symmetric multi-loop mechanism for space applications

Ángeles

Guo

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…• The Tri-pyramid robot with the triangular pyramidal constraint [25], [26]. • The decoupled pantograph manipulator with three translational degrees of freedom which belongs to a recently introduced family of industrial robots named interconnected manipulators [27], [28]. The above-mentioned studies introduced novel mechanisms with faster and highly accurate positioning of the end effector while keeping the workspace as large as possible to allow the extended dexterity in manipulation tasks.…”

Section: Introductionmentioning

confidence: 99%

“…Also, since actuators are located near/at the base, similar to the configuration of parallel manipulators, their links can be made light weight, implying high rigidity, high-speed and accurate operations. However, despite these advantages of this novel design [27,28], it has workspace limitations as it uses three linear actuators with small strokes that reduces the available workspace. Furthermore, the linear actuators in [27,28] are more expensive and less reliable compared with rotary actuators.…”

Section: Introductionmentioning

confidence: 99%

“…However, despite these advantages of this novel design [27,28], it has workspace limitations as it uses three linear actuators with small strokes that reduces the available workspace. Furthermore, the linear actuators in [27,28] are more expensive and less reliable compared with rotary actuators. In addition, the structure in [27,28] has internal singularities that decrease the available workspace further.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, the linear actuators in [27,28] are more expensive and less reliable compared with rotary actuators. In addition, the structure in [27,28] has internal singularities that decrease the available workspace further. Conversely, the 3-parallelogram lightweight robotic arm proposed by Wu et al [29] has translational motions in two orthogonal directions and one rotational motion along the third orthogonal direction, allowing the use of three rotary actuators; yet its structure presents internal singularities in the workspace.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Development of a Balanced 3D Translational Interconnected Manipulator With Solely Rotary Joints/Actuators and Free-Internal-Singularity Workspace

Sameh¹,

Fanni

Parque

et al. 2021

IEEE Access

Self Cite

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A new interconnected translational manipulator is proposed. It is the only interconnected manipulator that makes such motion using revolute joints and three rotary actuators. Rotary joints and actuators are favored practically than their linear counterparts due to their lower price, lower size of installation and higher reliability. The configuration of the proposed manipulator allows it to maintain, to a large extent, the combined merits of serial and parallel manipulators. In contrast to all other existing interconnected manipulators, the proposed manipulator has free-internal-singularity workspace. Using a practical proposed methodology, a balancing system is developed that reduces dramatically the power consumption and facilitates using small-sized-motors. The mobility analysis is carried out using a newly developed methodology suitable for interconnected manipulators. Closed forms for position and velocity kinematics as well as for maximum cuboid workspace are derived. The developed mechanical design is validated by finite element analysis. The controller performance is tested using ADAMS ® & MATLAB ® /Simulink co-simulation. The results indicate the feasibility of the proposed manipulator and its advantages over existing translational manipulators from engineering as well as economic viewpoints.

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Kinematic Synthesis of Fully Decoupled Planar Parallel Mechanisms by Using Multiple Pantograph Geometries

Yaşır,

van der Wijk,

Herder

2023

Advances in Mechanism and Machine Science

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Kinematic design and novel mobility analysis of a new 3D pantograph decoupled manipulator

Cited by 15 publications

References 9 publications

Mobility and singularity analyses of a symmetric multi-loop mechanism for space applications

Mobility and singularity analyses of a symmetric multi-loop mechanism for space applications

Development of a Balanced 3D Translational Interconnected Manipulator With Solely Rotary Joints/Actuators and Free-Internal-Singularity Workspace

Kinematic Synthesis of Fully Decoupled Planar Parallel Mechanisms by Using Multiple Pantograph Geometries

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