Simultaneous tool posture and polishing force control of unknown curved surface using serial-parallel mechanism polishing machine

Inverse and forward kinematics and workspace analysis of a novel 5-DOF (3T2R) parallel–serial (hybrid) manipulator

“…After calculation parameters t a and t b , angles a and b can be found using equation (30), and rotation matrix R P using ( 5) to (8). Coordinates p P of point P can be calculated through equation (22).…”

“…[3][4][5] Currently, many hybrid mechanisms, manipulators, and robots are known, including those with parallel-serial structure and providing increased rigidity, speedwork, extended sizes of working zones, and other important functional properties. Among such mechanical systems are five-degree-of-freedom (5-DOF) Cassino Hybrid Manipulator, which consists of parallel part in the form of a 3-DOF tripod, on the platform of which a 2-DOF telescopic arm is mounted; 6 hybrid robot manipulator, which is used for propeller grinding; 7 5-DOF manipulator Georg V including parallel chain-a tripod, with an additional serial chaina two-axis wrist joint; 8 10-DOF industrial manipulator designed for studying the feasibility of loading packages inside a trailer (UPSarm); 9 6-DOF manipulator, which consists of a 3-DOF planar parallel part and a 3-DOF serial part, that is designed as a robotic arm; 10 5-DOF mechanism for positioning a laser head composed of a parallel chain in the form of a planar mechanism and a serial chain in the form of a spatial mechanism; 11 5-DOF Parallel Mechanism-Wrist Mechanism manipulator, which includes a parallel part providing displacements along three coordinate axes and a wrist (serial) part providing two rotations; 12 6-DOF modular manipulator for robotized deburring applications, which includes a 3-RRR chain having parallel structure and a PRR arm having serial structure; 13 5-DOF micromanipulator designed for ophthalmic surgery, which includes two parallel kinematic chains and one serial chain-needle slider; 14,15 five-axis (5-DOF) machine tool, which has a 2-DOF parallel part and 3-DOF serial part; 16 6-DOF forging mechanism with application to heavy-duty manipulations; 17 6-DOF micromanipulator consists of two compliant parallel kinematic chains-a 3-RRR chain and a 3-RPS chain; 18 mobile robot, which includes a planar parallel chain in the form of star-triangle mechanism and a serial puma-type manipulator arm; 19 4-DOF haptic micromanipulator utilizing a planar 3-PRR parallel mechanism (3-DOF mechanism) and a planar 1-DOF modular bridge mechanism; 20 5-DOF machine tool, which consists of a 3-DOF parallel mechanism and a 2-DOF serial mechanism; 21 5-DOF (with 3T2R motion pattern) polishing machine, which includes a 3-DOF parallel mechanism for vertical motion and XY rotations and a 2-DOF serial mechanism for XY positioning; 22 humanoid arm, which consists of a serial chain of shoulder, elbow, and wrist joints and a 3-UPS/S parallel mechanism prototyping a wrist joint; …”

Design of a polishing tool for collaborative robotics using minimum viable product approach

“…On the one hand, as discussed in the Introduction section, several solution solutions can be found in the literature to solve the problem of surface treatment using robots, e.g., see the works of Mohammad, Hong, and Wang (2018), Nagata et al (2007), Oba and Yamada (2017), and Kalt, Monfared, and Jackson (2016), amongst others. On the other hand, the robot motion guidance problem through force sensors that evaluate the interaction of the human has been widely tackled, e.g., see the works of Dimeas and Aspragathos (2016), Khan et al (2017) and Vogel et al (2015), amongst others.…”

“…For instance, Mohammad, Hong, and Wang (2018) specially focused on tool design, whereas Nagata et al (2007) tackled the problem using the CAD/CAM information of the surface. In Oba and Yamada (2017), a tool mounted over a parallel robot for the automotive industry is presented. Another approach is shown in Kalt, Monfared, and Jackson (2016), where the polisher is static and the robot moves the element to be polished.…”

Robust Hybrid Position-Force Control for Robotic Surface Polishing

“…Many approaches can be found in the literature tackling this problem using robot manipulators with force feedback, e.g., see Refs. [5] and [6], among others. Other robot force control approaches are based on sliding-mode control (SMC) theory [7,8].…”