The kinematic design of spatial, hybrid closed chains including planar parallelograms

Cervantes-Sánchez, J. Jesús; Rico-Martínez, José M.; Tadeo-Chávez, Alejandro; Pérez-Soto, Gerardo I.

doi:10.1016/j.rcim.2010.10.008

Cited by 4 publications

(1 citation statement)

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“…Research into mobile parallel manipulators is a relatively new research domain, and substantial literature has recently been published [18][19][20][21][22][23]. In this paper we use the architecture presented in [2], which consists of a threewheeled nonholonomic mobile robot and a modified 4-DOF MPM version of a DELTA parallel robot (Fig.…”

Section: Architecture Descriptionmentioning

confidence: 99%

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Khoukhi

Hamdan

2013

International Journal of Advanced Robotic Systems

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This paper provides a kinematic and dynamic analysis of mobile parallel manipulators (MPM). The study is conducted on a composed multi-degree of freedom (DOF) parallel robot carried by a wheeled mobile platform. Both positional and differential kinematics problems for the hybrid structure are solved, and the redundancy problem is solved using joint limit secondary criterion-based generalized-pseudo-inverse. A minimum time trajectory parameterization is obtained via cycloidal profile to initialize multi-objective trajectory planning of the MPM. Considered objectives include time energy minimization redundancy resolution and singularity avoidance. Simulation results illustrating the effectiveness of the proposed approach are presented and discussed.

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Section: Architecture Descriptionmentioning

confidence: 99%

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Khoukhi

Hamdan

2013

International Journal of Advanced Robotic Systems

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Static analysis of spatial parallel manipulators by means of the principle of virtual work

Cervantes-Sánchez

Rico-Martínez

Pacheco-Gutierrez

et al. 2012

Robotics and Computer-Integrated Manufacturing

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Time-jerk optimal deployment trajectory planning of deployable parabolic cylindrical antenna

et al. 2020

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A time-jerk optimal deployment trajectory planning method of a large cable-strut deployable parabolic cylindrical antenna is proposed. First, in order to decouple the complex multi-loop mechanisms, the multi-loop basic mechanism of the deployable support structure is split into three single-loop linkages, and the geometric constraint model is established based on the Denavit–Hartenberg method. Then, the kinematic model with jerk characteristics of the basic mechanism is obtained by differentiation. By considering the basic mechanism into a motion element, the kinematic model of the deployable support structure is also established based on matrix coding and motion synthesis theory. Second, by using cubic splines and considering the comprehensive optimal performance of deployment time and system jerk, an antenna deployment trajectory optimization model is established. At last, for obtaining a high precision and stable optimal solution rapidly, the non-dominated sorting genetic algorithm-II is improved by introducing the expected solution preserving strategy. The experimental results show that the proposed approach is able to effectively solve real-parameter multi-objective problems and has better performance on convergence, diversity, and the degree of controlling self-adaptation. The optimal trajectory is efficient and has a smooth kinematic performance.

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The kinematic design of spatial, hybrid closed chains including planar parallelograms

Cited by 4 publications

References 20 publications

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Static analysis of spatial parallel manipulators by means of the principle of virtual work

Time-jerk optimal deployment trajectory planning of deployable parabolic cylindrical antenna

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