The kinematics of modular spatial hyper-redundant manipulators formed from RPS-type limbs

Gallardo, Jaime; Lesso, Raúl; Rico, José M.; Alici, Gürsel

doi:10.1016/j.robot.2010.09.005

Cited by 37 publications

(17 citation statements)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Figures 6 and 7 compare the EHM outputs from the solution of FKP [22][23][24][25] with the target ones. The maximum absolute error of the angle around X-, Y-, and Zaxis is of the order of 10 23 units and its relative error is about 1.9%.…”

Section: Bench Test and Results Analysismentioning

confidence: 99%

Efficient hybrid method for forward kinematics analysis of parallel robots based on signal decomposition and reconstruction

Wang

et al. 2017

Advances in Mechanical Engineering

View full text Add to dashboard Cite

This article combines a new method based on signal decomposition and reconstruction with a fifth-order numerical algorithm and proposes an efficient hybrid method for solving forward kinematics problem of parallel manipulators. In this hybrid method, new method can first generate an approximate solution of the forward kinematics problem, which will be taken as initial guess for the fifth-order numerical technique. The answer with desired level of accuracy is then obtained. The superposition principle is proposed stating that each rod's displacement required to drive the mobile platform with 6-degree-of-freedom coupled motion is approximately a sum of the rod's displacement required to drive it with each of six single basic motions including roll q 1 , pitch q 2 , yaw q 3 , surge q 4 , sway q 5 , and heave q 6 . By solving the equations established in accordance with the superposition principle, the approximate solution is also gained. Superposition principle is more applicable to the robots with small rotational workspace. The solution is directly solved under superposition principle. Even though the rotational workspace is expanded, the solution still meets the required accuracy of initial value of high-order iterative technique for obtaining its exact solution. The proposed method is then applied to a test bench for bogie parameters and a Stewart platform. Simulation results demonstrate that maximum absolute error of displacement along X-, Y-, and Z-axis is 0.174 mm and its relative error is about 3.4&. Using this method will reduce about 34.1% of the required number of iterations to solve the forward kinematics problem compared with improved hybrid method and up to 49.8% compared with the Newton-Raphson method.

show abstract

Section: Bench Test and Results Analysismentioning

confidence: 99%

Efficient hybrid method for forward kinematics analysis of parallel robots based on signal decomposition and reconstruction

Wang

et al. 2017

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…One is to directly use a numerical method, while the other is to use analytic techniques that get closed-form solutions. First ones are based on the numerical iteration, and the Newton-Raphson method is the most popular [7,8]. Closed-form solutions can be obtained through the elimination theories based on resultants [9] or Gr€ obner bases [10,11].…”

Section: Introductionmentioning

confidence: 99%

Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator

Wang

Yang

2015

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

This paper presents a finite element method (FEM) for the kinematic solution of parallel manipulators (PMs), and this approach is applied to analyze the kinematics of a parallel hip joint manipulator (PHJM). The analysis and simulation results indicate that FEM can get accurate results of the kinematics of the PHJM, and the solution process shows that using FEM can solve nonlinear and linear kinematic problems in the same mathematical framework, which provides a theory base for establishing integrated model among different parameter models of the PHJM.

show abstract

“…Considering the lower module as a positional mechanism and the upper as an orientation device, Zhang and Song [21] analysed the geometry and the position of a hybrid manipulator composed of two serially connected parallel robots, each mechanism having three degrees of freedom. Based on screw theory and principle of virtual work, Gallardo et al [22] addressed a complete kinematics analysis of a modular spatial hyperredundant manipulator built with a variable number of serially connected mechanical modules.…”

Section: Introductionmentioning

confidence: 99%