Oscillations and control of spherical parallel manipulator

Nhân, Nguyễn Hữu; Vo, Dinh Tung; Kheylo, Sergey; Glazunov, Victor

doi:10.1177/1729881419846394

Cited by 4 publications

(4 citation statements)

References 13 publications

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“…Some of the mechanisms have valuable industrial usage. Hhan et al [22] analyzed the dynamic property of the parallel spherical manipulators with three degrees of freedom and presented determination of acceleration input links, oscillations, and the problem of control. Ma et al [23] presented two novel metamorphic linkages as the spherical-planar 6R metamorphic linkage and the Bennett-spherical 6R metamorphic linkage, both of which have three various distinguished motion branches, and they revealed the conditions of various motion branches and a set of transformations for switching motion branches after establishing the close-loop equations of the spherical-planar 6R metamorphic linkages.…”

Section: State-of-the-art In Studying Spherical Mechanismsmentioning

confidence: 99%

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

2023

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Multi-loop spherical mechanisms are extremely beneficial for creating versatile mechanical devices, including robotic joints and surgical tools, since multi-loop spherical mechanisms possess unique capabilities to operate in spatial situations with relatively simple movement. Nevertheless, the research on multi-loop spherical mechanisms with spherical sliders containing spherical prismatic pairs is lacking. Therefore, the main innovation of this paper is to propose the Stephenson-III two-loop spherical mechanism that possesses a spherical slider containing a spherical prismatic pair and to analyze the proposed spherical mechanism’s motion characteristics. An algebraic approach was employed to obtain the branch graphs of the proposed spherical mechanism with a spherical slider. The branch graphs were categorized into two types, according to whether branch points existed. With the algebraic approach, loop equations of the two spherical kinematic chains inside the proposed spherical mechanism were established to identify the input–output curves and singularity curves, with which the branch graphs were obtained. With the branch graphs, the joint rotation spaces (JRSs) of the proposed mechanism were recognized and so were the dead center positions, branches, sub-branches, and branch points. The results from the mathematical analysis were simulated and verified by three-dimensional (3D) models of the proposed spherical mechanism. The analytical results demonstrate that the spherical prismatic pair diversifies the motion of the proposed spherical mechanism by producing rotational sliding movement, which can cover the entire circumference of a specific greater circle on the proposed mechanism’s sphere.

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Section: State-of-the-art In Studying Spherical Mechanismsmentioning

confidence: 99%

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

2023

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“…The solution to the positioning problem determines the relationship between the input and output coordinates and is presented in the following form (Kheylo and Glazunov, 2016;Nhan et al, 2019):…”

Section: Kinematic Accuracy Of the Spherical Mechanismmentioning

confidence: 99%

“…The equations of motion for a manipulator with 3 degrees of freedom will be described by a system of differential equations Nhan et al, 2019) as follows:…”

Section: T Vo Et Al: Kinematic and Dynamic Accuracy Of Spherical Mechanismsmentioning

confidence: 99%

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Kinematic and dynamic accuracy of spherical mechanisms

Kheylo²,

Nguyen

2022

Mech. Sci.

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Abstract. Among parallel robots, spherical robots occupy an important place. Most applications of spherical manipulators can be found in orienting devices, such as camera orienting and medical instrument alignment. A spherical parallel robot is, in general, made up of the base platform and the moving platform. This mobile platform and base are connected by three equally spaced legs, each consisting of revolute joints only. The axes of all joints intersect at a common point, which is called the center of rotation. The motion of the moving platform is confined on the surface of a sphere centered at the rotation center. A spherical parallel robot provides 3 degrees of freedom of pure rotations. These robots have been the subject of many papers dealing with the structure, the problems of position and velocity, workspace modeling, singularity analysis, and some problems with the dynamic analysis. However, not all the important problems have been solved. These concern the problem of accuracy. This paper presents accuracy of the spherical parallel. In the considered spherical manipulator, each leg consists of five kinematic pairs. The kinematic accuracy is determined on the kinematic problem. The dynamic accuracy is estimated on the equation of motion. Examples of solving the problem of determining the positioning error of the output level are presented.

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Solution of the Problem about Speeds and Special Positions of Spherical Parallel Manipulator

Dinh¹,

Kheylo²

2020

IJMERR

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Oscillations and control of spherical parallel manipulator

Cited by 4 publications

References 13 publications

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

Kinematic and dynamic accuracy of spherical mechanisms

Solution of the Problem about Speeds and Special Positions of Spherical Parallel Manipulator

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