Parallel manipulator software tool for design, analysis, and simulation of 195 GSP mechanisms

Abstract

ABSTRACT:In this paper, a new parallel manipulator software tool based on the MATLAB Graphical User Interface (GUI) is developed for design, analysis and simulation of 195 6-DOF General Stewart Platform mechanisms (GSP). The new proposed tool called as GSPDAP uses four basic leg types (SPS, SPC, CPS, and CCC) to design GSP mechanisms. Point or line coordinates required for leg connections are sufficient for GSPDAP to design a GSP mechanism. Once the design of a GSP mechanism is completed, GSPDAP provides the user with several analyses such as inverse kinematics, Jacobian matrix, workspace, and dexterity. It is not necessary for the user to have preliminary knowledge to obtain the inverse kinematics or Jacobian matrix etc. Additionally, GSPDAP generates symbolic equations for the inverse kinematics and the inverse Jacobian matrices of 195 GSP mechanisms. Including 195 parallel manipulator in its library, GSPDAP provides the educational users to profoundly improve the understanding of parallel manipulator fundamentals through interactive simulation. Parallel manipulators are more complex structures than their serial counterparts. Therefore, designing even one parallel manipulator is very cumbersome and expensive issue. In this condition GSPDAP may provide educators and students to design their manipulators in a computer environment with minimum cost. ß 2015 Wiley Periodicals, Inc. Comput Appl Eng Educ 23:931-946, 2015; View this article online at wileyonlinelibrary.com/journal/ cae;

Classification of Direct Kinematics to 3D3A Generalized Stewart Platform with Equilateral Triangle Platforms

“…Each of the characteristic sets is composed of two linear equations and one quadratic equation. Although each of the characteristic sets is similar as characteristic set (5), the main variab le of the quadratic equation is different fro m (5). The number of real solutions to each characteristic set also depends on the discriminant of the quadratic equation.…”

“…Fro m then on, several authors have studied the kinemat ic properties of GSPs proposed in [2]. For examp le, the 3850 GSPs are reduced to 195 GSPs by disregarding the planar joints based on two criterions [5] . In [6], the strategies on direct kinematics to spatial GSP are discussed with graph theory based on the analysis of degrees of freedom of geometric primit ives and degrees of constraints, Wu-Ritt characteristic set method [3] and complete discrimination system for polynomials [7] , without considering the shapes of the platform and the base.…”

“…In [6], the strategies on direct kinematics to spatial GSP are discussed with graph theory based on the analysis of degrees of freedom of geometric primit ives and degrees of constraints, Wu-Ritt characteristic set method [3] and complete discrimination system for polynomials [7] , without considering the shapes of the platform and the base. For more research works related to spacial generalized Stewart platform, please refer to [5].…”

Manipulate mechanism design and synchronous motion application for driving simulator

“…Some current parallel mechanisms are summarized systematically, and new parallel mechanisms and related control strategy research are proposed. [24][25][26] Considering that in the driving simulator, the cab is directly above the parallel mechanism moving platform and the load is large, so the traditional 6-UPU parallel structure is selected as the motion carrier of the driving simulator.…”

Two Design Proposals and Working Space Comparison for 3-CCC Type Robot with 6 Degrees of Freedom

“…Toz ve Küçük, 195 adet 6 SD GSP mekanizmasının ters Jacobian matrislerini 1 açısal ve 4 mesafe kısıtlamasını dikkate alarak 4 temel bacak tipi için hesaplamışlardır [9]. Ayrıca SPS, SPC, CPS ve CCC bacak tipleri için genel stewart platformu tasarım, analiz ve simülasyonu için MATLAB GUI tabanlı GSPDAP isimli bir yazılım aracı geliştirmişlerdir [10]. Nguyen ve arkadaşları 6 SD stewart platform tabanlı robotik bir bileğin kinematik analizini ve uygulamasını gerçekleştirmişlerdir [11].…”