Performance Analysis and Optimum Design of a Redundant Planar Parallel Manipulator

Wu, Xiaoyong

doi:10.3390/sym11070908

Cited by 7 publications

(2 citation statements)

References 26 publications

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“…When a performance index is properly defined, it can be adopted for a variety of tasks, for example, improving robot design [10, 11] or optimizing robot trajectory planning [12], which can be even more effective in conjunction with properly designed controllers [13].…”

Section: Introductionmentioning

confidence: 99%

Kinematic directional index for the performance of redundant manipulators

Boschetti

Minto

2023

Robotica

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Performance indexes are a powerful tool to evaluate the behavior of industrial manipulators throughout their workspace and improve their performance. When dealing with intrinsically redundant manipulators, the additional joint influences their performance; hence, it is fundamental to consider the influence of the redundant joint when evaluating the performance index. This work improves the formulation of the kinematic directional index (KDI) by considering redundant manipulators. The KDI represents an improvement over traditional indexes, as it takes into account the direction of motion when evaluating the performance of a manipulator. However, in its current formulation, it is not suitable for redundant manipulators. Therefore, we extend the index to redundant manipulators. This is achieved by adopting a geometric approach that allows identifying the appropriate redundancy to maximize the velocity of a serial manipulator along the direction of motion. This approach is applied to a 4-degree-of-freedom (DOF) planar redundant manipulator and a 7-DOF spatial articulated one. Experimental validation for the articulated robot is presented, demonstrating the effectiveness of the proposed method and its advantages.

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Section: Introductionmentioning

confidence: 99%

Kinematic directional index for the performance of redundant manipulators

Boschetti

Minto

2023

Robotica

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“…Consisted Δand U-shape base of the 3-PPR PPM are compared in terms of workspace area and kinematic sensitivity to joint clearances. Xiaoyong Wu [23] presented a 4-PPR redundant planar manipulator with an asymmetric structure for precision assembly, and a comparison of the redundant manipulator and two non-redundant PPMs with symmetrical structures were performed based on the performance of dexterity, velocity, and stiffness [24]. A modular and compact-based Parallel micro-positioning platform of 3PPR + PPR is proposed [25] and has several advantages because of its design symmetry.…”

Section: Introductionmentioning

confidence: 99%

Design development and control of a shape memory alloy linear actuation based XYθ motion stage

Choudhury

Singh

2023

Eng. Res. Express

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This article addresses the development and trajectory tracking analysis of the three degrees of freedom Shape memory alloy (SMA) actuation-based 4-PPR XYθ motion stage. The developed motion stage is of four legs of the PPR (Prismatic-Prismatic-Revolute) configuration, having the first prismatic joint as the active joint. SMA spring is incorporated as the linear actuator of the motion stage. The three degrees of freedom motion of the end-effector is achieved based on a new type of SMA-driven PPR joint configuration to provide two translations and one rotational motion. The advantages of the SMA as an actuator is such as lightweight, higher accuracy, and micron-level movement to establish linear motion and silent actuation. The kinematic and jacobian relations are derived for the developed motion stage. The actuation of the SMA (Nitinol) spring actuator is accomplished by the use of a programmable power supply. In addition, the close loop PID control scheme to the SMA linear actuator is investigated. The mechanism has some inherent errors, as geometric errors (kinematic error), friction between the elements of the mechanism, etc., are significant issues in tracking the trajectory of the motion stage. Thus, to address the above issues, this study incorporates the dual-loop control scheme for better trajectory tracking and error compensation of the proposed motion stage. The control method employs a redundant feedback approach, in which discrete joint space displacements and mobile platform coordinates, and task space coordinates are determined as feedback signal using suitable sensors. In this control scheme, the actual joint displacement errors are computed using the redundant feedback data and corrected the desired joint displacement trajectory to obtain the desired task space trajectory. To measure the effectiveness of the used control scheme, a real-time prototype of the proposed motion stage (4-PPR) is developed and investigated the performance of the control method using some simple geometric trajectories. It is observed from the experiments that the motion stage using SMA linear actuation technique has good tracking performance using the control scheme. The developed motion stage can be implemented in the micro-stereolithography process and micron-level positioning application.

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Optimization of working position and posture of a 5-DOF hybrid automatic drilling system based on an improved GA-BP neural network

Wang

Sun

2023

International Journal of Computer Integrated Manufacturing

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Performance Analysis and Optimum Design of a Redundant Planar Parallel Manipulator

Cited by 7 publications

References 26 publications

Kinematic directional index for the performance of redundant manipulators

Kinematic directional index for the performance of redundant manipulators

Design development and control of a shape memory alloy linear actuation based XYθ motion stage

Optimization of working position and posture of a 5-DOF hybrid automatic drilling system based on an improved GA-BP neural network

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