Mobility analysis and kinematics of the semi-general 2(3-RPS) series-parallel manipulator

“…Paper [1] considers a general platform for which the authors perform an analysis of the mobility, describe its finite kinematics and realize the direct and inverse analysis of the displacements. The approach is based on the theory of screw coordinates.…”

Section: Introductionmentioning

confidence: 99%

On the Vibrations of a Rigid Solid Hung by Kinematic Chains

et al. 2022

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In this paper we consider two situations. In the first, all kinematic chains are elastic, while the second situation is characterized by one rigid kinematic chain, with the rest of them being elastic. In addition, the kinematic joints are considered to be rigid. The calculations are performed using the screw coordinates. For the free vibrations of the rigid solid we determined the rigidity matrix and the eigenpulsations in both cases. It was proved that the results in the second case cannot be considered as limits for the results of the first situation, putting infinite values for the elements of the rigidity matrix of one kinematic chain. We also developed the theory for the forced vibrations of the system. A numerical application is considered and a great variety of cases are developed and discussed. The results obtained for the forced vibrations are presented and discussed. The paper combines elastic and rigid kinematic chains, as well as general configurations of the kinematic chains. The method presented here may be used for any number of kinematic chains, no matter if the structure is symmetrical or asymmetrical.

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“…The first class (Class I) includes all the hybrid robots whose structure has several parallel modules connected in series [1][2][3][4][5][6][7][8][9][10] (Figure 1a).…”

Section: Introductionmentioning

confidence: 99%

“…In the literature, there have been efforts that focused on the kinematic modelling of the hybrid robots Class I [1][2][3][4][5]. The kinematic modelling and analysis of two serially connected parallel mechanisms were investigated in [1].…”

Section: Introductionmentioning

confidence: 99%

Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator

Định

et al. 2020

Applied Sciences

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Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method.

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Mobility analysis and kinematics of the semi-general 2(3-RPS) series-parallel manipulator

Cited by 23 publications

References 20 publications

Review on 2R1T 3-DOF parallel mechanisms

Review on 2R1T 3-DOF parallel mechanisms

On the Vibrations of a Rigid Solid Hung by Kinematic Chains

Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator

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