Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms

Hoevenaars, A.G.L.; Lambert, Patrice; Herder, Just L.

doi:10.1007/978-94-007-7214-4_35

Cited by 12 publications

(5 citation statements)

References 10 publications

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“…Lambert et al [23] studied "PentaG", a 5-DoFs spatial robot with two EEs able to grasp objects and perform Schönflies motion; its architecture was later generalized to a 7-DoFs haptic interface with redundant actuation [24]. Two spatial, 3-DoF PRCPs with a similar concept were presented in [25]. In [26], Lambert and Herder presented a literature review on PRCPs and proposed general results on the singularity and mobility analysis of this class of robots; later, in [27], a general method was presented to derive the complete Jacobians of PRCPs through screw theory.…”

Section: Introductionmentioning

confidence: 99%

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

et al. 2021

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Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.

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Section: Introductionmentioning

confidence: 99%

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

et al. 2021

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“…Hence, an additional gripper is attached to the rigid moving platform of the traditional parallel mechanism to solve low rigidity [4]. However, the additional gripper needs another actuator mounted on the rigid platform, thereby increasing platform weight and affecting gripper mechanism performance [5].…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving platform

Wang

Fang

2021

Front. Mech. Eng.

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Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism. This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans. This study proposes a family of novel (5 + 1) degrees of freedom (three translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform. First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation. The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios. A sufficient rule based on Lie group theory is proposed to synthesize the mechanism. The hybrid limb structure is also enumerated. A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule. Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study. A kinematic analysis of the example mechanism is presented. The workspace shows that the mechanism possesses high rotational capability. In addition, a stiffness analysis is performed.

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“…Few years later, in Mohamed and Gosselin' study [6], the concept of a configurable platform was extended from planar to spatial PMs. Recently, the instantaneous kinematics and static analysis of limited-dof PRCP mechanisms were approached by Hoevenaars et al [7]. Finally, in [1], the fundamental aspects of PRCP mechanisms enhancing their attributes such as the high capacity of grasping irregular objects via multiple contact points keeping the well-known advantages of classical PMs were well discussed.…”

Section: Introductionmentioning

confidence: 99%

A Parallel Manipulator with Planar Configurable Platform and Three End‐Effectors

Gallardo-Alvarado

Tinajero-Campos

2019

Mathematical Problems in Engineering

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This work reports on the kinematic analysis of a planar parallel manipulator endowed with a configurable platform assembled with six terminal links serially connected by means of revolute joints. This topology allows the robot manipulator to dispose of three relative degrees of freedom owing to the mobility of an internal closed-loop chain. Therefore, the proposed robot manipulator can admit three end-effectors. The forward displacement analysis of the configurable planar parallel manipulator is easily achieved based on unknown coordinates denoting the pose of each terminal link. Thereafter, the analysis leads to twelve quadratic equations which are numerically solved by means of the Newton homotopy method. Furthermore, a closed-form solution is available for the inverse position analysis. On the contrary, the instantaneous kinematics of the robot manipulator is investigated by means of the theory of screws. Numerical examples are included with the purpose to illustrate the method of kinematic analysis.

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Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms

Cited by 12 publications

References 10 publications

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving platform

A Parallel Manipulator with Planar Configurable Platform and Three End‐Effectors

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