Kinematics Dexterity Analysis and Optimization of 4-UPS-UPU Parallel Robot Manipulator

Cui, Guohua; Zhang, Haiqiang; Xu, Feng; Sun, Chuanrong

doi:10.1007/978-3-319-13963-0_1

Cited by 2 publications

(2 citation statements)

References 8 publications

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“…Para evitar estos problemas, la matriz jacobiana suele ser homogenizada o normalizada. En el primer caso, se suelen dividir los elementos asociados a las velocidades angulares por una longitud característica, existiendo diferentes propuestas para seleccionar dicha longitud [3], [11], [17]. En la normalización o equilibrado [18], la matriz jacobiana se obtiene J E JE 13…”

Section: íNdices De Desempeño Basados En La Distancia a La Singularidadunclassified

Cinemática inversa de un robot redundante tipo scorbot – ER Vplus: influencia de índices de desempeño

Calderón

González-Echeverry

Quintero-Riaza

2017

Iteckne

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Section: íNdices De Desempeño Basados En La Distancia a La Singularidadunclassified

Cinemática inversa de un robot redundante tipo scorbot – ER Vplus: influencia de índices de desempeño

Calderón

González-Echeverry

Quintero-Riaza

2017

Iteckne

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“…These criteria can be classified to kinematic-static criteria (Cui et al, 2014;Rezaei and Akbarzadeh, 2015) such as isotropy, manipulability, dexterity, workspace and singularity, and dynamic criteria (Nguyen et al, 2015;Zhao, 2013) such as dynamic isotropy, dynamic dexterity and natural frequency. Depending on extensive application of these manipulators, one or more criteria are required to mention.…”

Section: Introductionmentioning

confidence: 99%

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Mirshekari

Ghanbarzadeh

Shirazi

2016

Lat. Am. j. solids struct.

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The effects of distinctive parameters such as revolute joint angle or spherical joint location of mobile platform in a 6-DOF 6-RUS parallel manipulators on workspace, kinematic, and dynamic indices are investigated in this study to select proper structure commensurate with performance. Intelligent multi-objective optimization method is used to design the manipulator. Considering distinctive parameters, relevant relations for developing inverse kinematic and Jacobin matrix are obtained. In order to study dynamic properties, mass matrix is obtained from calculating the total kinetic energy of the manipulator. After modifying multi-objective Bees algorithm, it used to optimize the manipulator structure considering all geometrical parameters with proper constraints. In addition of comparison of three well known 6-RUS manipulators' types, variation diagram of workspace, local and global dynamics and kinematics performance indices have been drawn with respect to structural parameters variation and limitation of these parameters with proper value are determined. Moreover, considering all dimensional parameters, Pareto front line of multi objective optimization of structure is presented based on dynamic and kinematic performance in pre-determined workspace. Based on the results, a fairly comparison among various types of 6-RUS manipulators can be conducted and the most appropriate set of dimensional parameters are selected based on specific demand. are made of mobile platform which is connected to a fixed platform by several parallel arms. Parallel manipulators can be classified based on degree of freedom, number of arms, order of joints in each arm and type of actuator (Merlet, 2006). according to this, various 6-DOF parallel manipulators have been proposed. One of the most important 6-DOF parallel manipulators is 6-RUS manipulators that revolute joint, universal joint, and spherical joint are used in each arm, respectively.A 6-RUS manipulators has some advantages that the most important one, is low weight of movable parts because of installing motor in the fixed platform. Therefore, bigger and cheaper electrical motors can be used. In addition, thinner connecting rod can be used to the mobile platform that conclude reduction of collision of links to each other (Bonev, 2002). Moreover, these manipulators can be balanced statically (Gosselin and Wang, 2000). Although this type of manipulator has some disadvantages such as bending in connecting rods and complicated mechanical analysis. Also, because of great number of chains, connecting the fixed base with the moving platform, and movment limitations of passive joints, such as spherical and universal, workspace of the 6-RUS manipulators are restericted. To overcome such drawbacks, some researchers demonstrate the tendency for the use less than 6-degree-of-freedom parallel mechanisms (Chablat and Wenger, 2003;Gosselin et al., 2007;Clavel, 1991) and for 6-dof applications hybrid manipulators are studied (Caro et al., 2015).The first 6-RUS manipulator was proposed b...

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Kinematics Dexterity Analysis and Optimization of 4-UPS-UPU Parallel Robot Manipulator

Cited by 2 publications

References 8 publications

Cinemática inversa de un robot redundante tipo scorbot – ER Vplus: influencia de índices de desempeño

Cinemática inversa de un robot redundante tipo scorbot – ER Vplus: influencia de índices de desempeño

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

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