Static Characteristic Analysis of Spatial (Non-Planar) Links in Planar Parallel Manipulator

Ganesh, M.; Dash, Anjan Kumar; P, Venkitachalam.; Shrinithi, S.

doi:10.1017/s026357472000020x

Cited by 4 publications

(2 citation statements)

References 22 publications

(30 reference statements)

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“…Ten, according to the motion state and the change of the motion state, the motion parameters are used to adjust the motion trajectory so as to obtain the motion trajectory of the motion trajectory. Finally, the stationary planar imaging of the two articulated robots is completed on the experimental platform [9].…”

Section: Camera Position Adjustment For Planar Two-joint Robotsmentioning

confidence: 99%

Attitude Analysis and Evaluation of Camera Based on Planar Double Joint Robot

Wang

Chen

et al. 2023

Journal of Robotics

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Planar double-jointed robot is a kind of widely used robot. In the past decades, with the development of science and technology, planar double-jointed robot has a great breakthrough in many aspects, especially in the actual camera and attitude analysis. In recent years, pun-section manipulator has made great progress in technology, but its kinematic characteristics and the human body’s ability to move have a great gap. So, in the moving plane, we need to study how to improve its camera ability to find a more stable and effective camera mode, and to a certain extent, to meet its requirements in complex working conditions. Simulating the pose of two joints, we seek a more stable and effective camera mode to improve its moving speed, expand its moving space, and lay a solid foundation for its application. Planar double-jointed robot is the most representative one at present. It includes machinery, material, electronics, computer, sensor, drive, intelligent control, artificial intelligence, and so on. Because it is closer to the human body, more suitable for people’s work and work, so it does not need to change its environment, so it is regarded as having a high affinity for people’s machinery. Its characteristic is that it has the good adaptability and the flexibility, but the double joint camera’s support discontinuity enables it to be able to adapt each kind of complex situation well. It can not only climb the stairs but also in the messy ground smooth through and also in the inconvenient passage through. The aim of this paper is to analyze the unique advantages and irreplaceable characteristics of the planar double-jointed robot based on the bionic and mechanical research results. This paper analyzes the mechanical technology by means of literature review and actual data analysis. The experimental results show that the biggest difference between the two articulated robots and other robots is that they have two human-like joint motions.

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Section: Camera Position Adjustment For Planar Two-joint Robotsmentioning

confidence: 99%

Attitude Analysis and Evaluation of Camera Based on Planar Double Joint Robot

Wang

Chen

et al. 2023

Journal of Robotics

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“…1). Due to spatial links, the improvement in translational stiffness was reported in [14] despite the reduced force transmission in the X-Y plane.…”

Section: Three-legged Decoupled Parallel Manipulatorsmentioning

confidence: 99%

Design, static analysis, and dynamic system modeling of 3-PPRS parallel manipulator with load-balancing UPS leg

Prasad

Ganesh

2023

Robotica

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As a heavy load is applied to the parallel manipulators, it causes inaccuracies while positioning the end-effector or unbalanced dynamic forces in the legs. Various load-balancing techniques overcome this. However, the disadvantage of most load-balancing mechanisms is that they add inertia to the assembly and decrease the speed of motion. This article studies a new load-balancing method (a passive damper mechanism). The passive balancing mechanism is proposed to negate the inertia effects while countering the static inaccuracies in the parallel mechanism. This is verified by the structural analysis of the mechanism. The impact of the damper element on the dynamics of the mechanism is unknown. Hence, a complete mathematical model for the balancing mechanism has been developed to study its impact on the dynamics of the entire structure. Laplace transformations characterize the system response. The inclusion of a passive damper in a 3-prismatic-prismatic-revolute-spherical system was examined and found to be stable and critically damped. Such a passive damper was envisaged to facilitate additional force transmission for the actuators, and the DC gain from the system response validates the torque support for the actuators.

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Active Disturbance Rejection-Based Torque Control for a Load Simulator of Robotic Hardware-in-the-Loop Simulation

Shan

Liu

et al. 2023

Advances in Mechanism, Machine Science and Engineering in China

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Static Characteristic Analysis of Spatial (Non-Planar) Links in Planar Parallel Manipulator

Cited by 4 publications

References 22 publications

Attitude Analysis and Evaluation of Camera Based on Planar Double Joint Robot

Attitude Analysis and Evaluation of Camera Based on Planar Double Joint Robot

Design, static analysis, and dynamic system modeling of 3-PPRS parallel manipulator with load-balancing UPS leg

Active Disturbance Rejection-Based Torque Control for a Load Simulator of Robotic Hardware-in-the-Loop Simulation

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