Optimal Design of a Parallel Manipulator for Aliquoting of Biomaterials Considering Workspace and Singularity Zones

Malyshev, Dmitry; Rybak, Larisa; Carbone, Giuseppe; Semenenko, Т. A.; Nozdracheva, Anna

doi:10.3390/app12042070

Cited by 16 publications

(9 citation statements)

References 26 publications

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“…In addition, Nigatu [3] et al proposed a 3-DOF parallel robot workspace optimization method based on dimensional homogeneous constraints embedded in Jacobian, which provides a simplified formula and eliminates the complex partial differentiation required in previous methods to solve the workspace. Moreover, Malyshev [4] proposed a dimensional comprehensive optimization design method based on the criterion of maximizing the volume of the workspace based on the method of mechanism Jacobian matrix analysis and connecting rod interference on the basis of considering the singular region. In addition, Huiping S [5] , Allaoua B [6] and Lu Y [7] all adopted the geometric method to solve the workspace.…”

Section: Introductionmentioning

confidence: 99%

Workspace solution of 6-DOF mechanical platform based on imaginary support

2024

HSET

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In this paper, by analyzing the farthest and nearest critical conditions that the platform center can reach on a 6-DOF mechanical platform, the maximum space area that the platform center can move to, that is, the working space, is studied. In this paper, through mechanism analysis, the above platform moves along the direction of the actual support, the three-dimensional model is converted into a two-dimensional plane model by selecting a section, and the respective constraints under five different motion processes are analyzed. Then, the degree of freedom is reduced by defining the unknown, the coordinates of the center of the platform are solved, and the function image is obtained. Then, the concept of "imaginary support" is introduced to ensure the consistency of the model. Finally, the maximum space region that the center of the platform can move to on the 6-DOF mechanical platform is roughly shaped as a quasi-hemispherical structure with symmetry. The working space of the platform center on the 6-DOF mechanical platform obtained in this paper is relatively simple and the model is unified, which can provide data and scientific reference for the manufacture of related instruments in the field of mechanical manufacturing.

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Section: Introductionmentioning

confidence: 99%

Workspace solution of 6-DOF mechanical platform based on imaginary support

2024

HSET

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“…However, the delta robot generally yields a small reachable workspace of its end effector and requires complex kinematics [12] and dynamic motion controls [13]. To extend the end-effector workspace, a hybrid parallel robot was constructed by stacking 2 closedloop linkages [14]. Several challenges in the delta-robot design phase were must be overcome.…”

Section: Introductionmentioning

confidence: 99%

“…Several challenges in the delta-robot design phase were must be overcome. For example, analysis of delta-robot workspace and singularity [14], [15] were more complex to identify than those of the serial manipulator, thus the inverse kinematics could assist in computation of the delta robot workspace [16]. A trade-off among performance constraints, prescribed workspace, structural kinematics, and joint torque requirement, et.…”

Section: Introductionmentioning

confidence: 99%

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

Yamtuan,

Radomngam,

Prempraneerach

2023

Journal of Robotics and Control

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Industrial delta robots with motion-and vision-base controllers, providing high-precision and fast/flexible motion, normally come with high cost and complex software. Low-cost delta robots with vision solution could be beneficial to vast industries to increase productivity and to reduce labor cost. A delta robot using a low-cost motion controller and an open-source vision system is developed to accomplish real-time visual servoing with high motion accuracy. In the low-cost motion controller, three parallel links’ upper-arm angles, computed from inverse kinematics for a given desired target position by a high-level computer, are used as reference position commands for three AC-motor drives. A low-level Arduino microcontroller is employed to convert these links’ angles to high-frequency pulses and on-off signals for synchronously controlling three motor angles and direction. Experimental results of a point-to-point motion tracking exhibit high-precision repeatability. Synchronous pulse generation from Arduino microcontroller and structural misalignments of parallel links are major challenges for achieving high motion accuracy. For the vision-based system, the YOLOv5 algorithm is implemented along with a Python GUI Application. Then, the visual-servo performance is evaluated on localization accuracy and recognition rate of 3-color objects. However, a partial object occlusion can reduce the visual classification rate. A sorting task of 4-category medicine boxes demonstrate a high-speed pick-and-place operation using the low-cost visual-servo system of this delta robot. Therefore, integration of low-cost visual servoing with this delta robot can revolutionize various industries, like automobile, pharmaceutical, and food sectors, in separating, sorting and packing applications.

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“…The first published paper presents the concept of a robotic system for the aliquoting of biomaterials, consisting of a serial manipulator in combination with a parallel Delta-like robot. This is particularly valuable to avoid the risks of contaminations as reported with a design solution and simulation models in [17]. The second paper addresses the concept of "Industry 4.0" as based on the utilization of collaborative robots [18].…”

Section: Introductionmentioning

confidence: 99%