Review article: Performance measures of parallel kinematics manipulators

Rosyid, Abdur; El‐Khasawneh, Bashar; Alazzam, Anas

doi:10.5194/ms-11-49-2020

Cited by 25 publications

(16 citation statements)

References 173 publications

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“…To handle this problem, many authors considered different workspace types and proposed various methods of their determination. 19…”

Section: Workpace Analysismentioning

confidence: 99%

“…There are several measures to estimate manipulator performance: dexterity, manipulability, and other indices. 19 In this paper, we will use the inverse of the Jacobian condition number (also known as conditioning index), a conventional performance measure for parallel manipulators. We can calculate this parameter as follows where J= boldA –1 B is the Jacobian matrix according to equation (13) and is any matrix norm (e.g., 2-norm or Frobenius norm).…”

Section: Performance Analysismentioning

confidence: 99%

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Workspace and performance analysis of a 6-DOF hexapod-type manipulator with a circular guide

Антонов

Fomin

Glazunov

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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The present paper considers workspace and performance analysis of a six degree-of-freedom hexapod-type parallel manipulator with a circular guide. Compared to other similar manipulators, the design of this one allows locating all the drives fixed on the base and avoiding collisions between the carriages. The first half of the paper focuses on a procedure to determine the constant orientation (translation) workspace. The study first considers all the constraints that can affect the working area: constraints in active and passive joints, leg interference, and singularities. Next, the paper discusses the numerical procedure to construct the workspace. The proposed innovative approach combines the features of conventional geometrical and discretization methods. The suggested techniques are implemented in a MATLAB package and verified by examples with various orientations of the mechanism output link. The paper also discusses the accuracy of developed methods and mentions the required computational efforts. The second half of the work analyzes manipulator performance by calculating the conditioning index over the workspaces obtained earlier. The paper evaluates the conditioning index for an ordinary Jacobian matrix and a normalized one. In the latter case, two normalization approaches are considered: using a characteristic length and using linear velocities of three points selected on the mechanism output link.

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“…To handle this problem, many authors considered different workspace types and proposed various methods of their determination. 19…”

Section: Workpace Analysismentioning

confidence: 99%

Section: Performance Analysismentioning

confidence: 99%

Workspace and performance analysis of a 6-DOF hexapod-type manipulator with a circular guide

Антонов

Fomin

Glazunov

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…Further, compared with a parallel mechanism, the ISP with a spherical mechanism has a certain particularity [26]. This type of actuator has three rotational degrees of freedom that differ from parallel Delta and Stewart platforms.…”

Section: Introductionmentioning

confidence: 99%

Adaptive sliding‐mode‐assisted disturbance observer‐based decoupling control for inertially stabilized platforms with a spherical mechanism

Tian

Wang

2022

IET Control Theory & Appl

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An inertially stabilized platform (ISP) is a gimbal used to hold a camera. It is essential for isolating the attitude sway during an imaging process. To make the platform more compact, the implementation of an ISP with a spherical mechanism has been proposed. However, this design introduces complex non-linear coupling characteristics, significantly increasing the complexity of control. This study aims to solve this problem and present an algorithm to achieve high-performance inertial stabilization control. To achieve this, kinematic and dynamic models were established, and the proposed control algorithm was then designed in three parts. Gravity compensation control was set up in the internal loop to counter the influence of unbalanced gravity moment. An adaptive sliding-mode-assisted disturbance observer (ASMADO) was also included in the joint space to decouple the influence of complex non-linear characteristics on the platform. Further, a feedback controller was added to the workspace based on the kinematic model. This design simplifies the control algorithm for novel ISPs with a spherical mechanism. It effectively compensates for the complex non-linear characteristics and enables superior inertial stabilization control. Experimental results show that the proposed method effectively decreases the motion isolation error for the line-of-sight of the camera compared to traditional control methods.

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“…Various performance indices were conceived for identifying PMs' reachable-workspace regions that are free and far from singularities, where safely locating the useful workspace [11][12][13][14][15][16][17][18]. These indices well identify kinetostatic issues and can be useful to perform the dimensional synthesis and to locate the useful workspace (see, for instance, [19,20]) far from singularities.…”

Section: Introductionmentioning

confidence: 99%

“…Other indices take into account also robot stiffness and dynamic performances [16][17][18][21][22][23][24][25][26]. These other indices require the knowledge of data (e.g., masses, stiffness, etc.)…”

Section: Introductionmentioning

confidence: 99%

Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators

Gregorio

Yılmaz

2021

Machines

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The dimensioning of general-purpose machines such as manipulators involves the solution of a number of preliminary issues. The determination of reference external loads and the identification of machine configurations that give the maximum internal load for each component are two of these issues. These two problems are commonly addressed through trial-and-error procedures based on dynamic modelling, which are implemented with the support of simulation software, since static analyses are commonly considered inadequate to solve them. Despite this, here, a technique based on influence coefficients and static analyses is presented which solves them. Such technique is also able to foresee and justify dynamic issues (i.e., possible vibrations, etc.) that could heavily affect the machine behavior. The effectiveness of the proposed technique is proved by implementing it on a 3T1R parallel manipulator. The presented design method is general and applicable to any type of non-overconstrained manipulator or mechanism.

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Review article: Performance measures of parallel kinematics manipulators

Cited by 25 publications

References 173 publications

Workspace and performance analysis of a 6-DOF hexapod-type manipulator with a circular guide

Workspace and performance analysis of a 6-DOF hexapod-type manipulator with a circular guide

Adaptive sliding‐mode‐assisted disturbance observer‐based decoupling control for inertially stabilized platforms with a spherical mechanism

Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators

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