Kinematics of 3-RPS parallel manipulators by means of screw theory

Gallardo, Jaime; Orozco, Horacio; Rico, José M.

doi:10.1007/s00170-006-0851-5

Cited by 41 publications

(24 citation statements)

References 11 publications

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“…The elimination method [14,26,62,64] is analytical, but usually the polynomial must be solved by a numerical method. In Gröbner bases [14,65,66], an invariant polynomial is obtained.…”

Section: Kinematic Modelmentioning

confidence: 99%

An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms

Majarena

Santolaria

Samper

et al. 2010

Sensors

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This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters.

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“…The elimination method [14,26,62,64] is analytical, but usually the polynomial must be solved by a numerical method. In Gröbner bases [14,65,66], an invariant polynomial is obtained.…”

Section: Kinematic Modelmentioning

confidence: 99%

An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms

Majarena

Santolaria

Samper

et al. 2010

Sensors

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show abstract

“…Furthermore, by the redundancy effect can be obtained via customized solutions of the kinematic performance of the manipulator. In what follows, the forward position analysis is performed, based on the method introduced in [36,37].…”

Section: Reconfiguration Proposalmentioning

confidence: 99%

“…Velocity analysis involves determining the velocity state of the moving platform with respect to the fixed platform [36,37] when the joint rates are known as follows:…”

Section: Velocity Analysismentioning

confidence: 99%

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Balmaceda-Santamaría

Castillo-Castañeda

Gallardo-Alvarado

2016

International Journal of Advanced Robotic Systems

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This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.

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“…This kind of manipulators has been studied widely [2][3][4][5][6][7]. However, few investigations have been developed on SPMs.…”

Section: Introductionmentioning

confidence: 99%

Analyses of Inverse Kinematics, Statics and Workspace of a Novel 3RPS- 3SPR Serial-Parallel Manipulator

Hu¹

2012

TOMEJ

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A novel 3RPS-3SPR serial-parallel manipulator (S-PM) with 6 degree of freedoms (DOFs) is proposed in this paper. It includes a lower 3RPS parallel manipulator (PM) and an upper 3SPR PM. Its inverse kinematics, active forces and workspace are solved. First, the inverse displacement is solved in close form based on the geometrical and the dimensional constraints of this S-PM. Second, the 9×9 and 6×6 form inverse Jacobian matrices are derived and the active forces are solved using principle of virtual work. Third, the workspace of this S-PM is constructed by using CAD variation geometry approach.

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Kinematics of 3-RPS parallel manipulators by means of screw theory

Cited by 41 publications

References 11 publications

An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms

An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Analyses of Inverse Kinematics, Statics and Workspace of a Novel 3RPS- 3SPR Serial-Parallel Manipulator

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