Trajectory planning of a 3-RRRRR planar parallel robot

Oarcea, Alexandru; Cobilean, Victor; Stan, Sergiu-Dan

doi:10.1109/mps52805.2021.9492613

Cited by 3 publications

(8 citation statements)

References 5 publications

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“…P, Q, R Transformation matrix Geometry Method [9] P, Q, R Geometry Method Geometry Method [10] P, Q, R N/A Geometry Method [11] P, Q, R Numeric Method Geometry Method [12] P, Q, R N/A Geometry Method [22] All Joints Geometry Method N/A Among the referenced literature, it is observed that most articles base their analyses under the assumption that the active joints are all placed at the kinematic chain bases in P, Q, and R in Figure 2. The only exception is [22], which studies two additional configurations but limits its analysis to the singularities.…”

Section: Referencesmentioning

confidence: 99%

“…This study focuses on the 3RRR symmetric planar robot shown in Figure 2. Existing literature models [3][4][5][6][7][8][9][10][11][12] position active joints at the base joints, i.e., P, Q, and R, whereas passive joints are at points A, B, C, D, E, and F. This study proposes a mathematical model of a planar parallel robot where the active joints are rather located at joints P, D, and A, all of which belong to a single kinematic chain. The kinematic models derived in this work are then compared and contrasted to the conventional models in Table 1, and a discussion of the advantages of our derived models is provided.…”

Section: Rrr Symmetric Planar Robot Active Jointsmentioning

confidence: 99%

“…These models must facilitate the engineer's decision making and design the action-planning process. However, traditional modeling approaches for 3RRR parallel planar robots [3][4][5][6][7][8][9][10][11][12] do not provide simple models for robot configurations with active joints that are all placed within one single kinematic chain. The traditional models with the active joints located at the bases actually render the modeling of single kinematic chain active joint robots as a complex task that requires solving computingintensive calculations.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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Existing direct and inverse kinematic models of planar parallel robots assume that the robot’s active joints are all at the bases. However, this approach becomes excessively complex when modeling a planar parallel robot in which the active joints are within one single kinematic chain. To address this problem, our article unveils an alternative for a 3RRR symmetric planar robot modeling technique for the derivation of the robot workspace and the analysis of its direct and inverse kinematics. The workspace was defined using a system of inequalities, and the direct and inverse kinematics models were generated using vectorial analysis and an optimized geometrical approach, respectively. The resulting models are systematically presented and validated. Two final model renditions are delivered supplying a thorough equation analysis and an applicability discussion based on the importance of the robot’s mobile platform orientation. The advantages of this model are discussed in comparison to the traditional modeling approach: whereas conventional techniques require the solution of complex eighth-degree polynomials for the analysis of the active joint configuration of these robots, these models provide an efficient back-of-the-envelope analysis approach that requires the solution of a simple second-degree polynomial.

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Section: Referencesmentioning

confidence: 99%

Section: Rrr Symmetric Planar Robot Active Jointsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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“…In designing such a mechanism, several problems related to kinematics and dynamics must be solved. The determination of workspace (including singularity points) and trajectory planning are the main kinematic issues [1][2][3][4][5][6][7][8][9][10][11][12][13], while determination and minimization of the shaking forces and torques, together with the torques of the actuators, are the crucial dynamic issues [14][15][16][17][18][19][20][21][22][23]. In [2,3], the singularity and workspace of the 5R (revolute joint) symmetrical parallel mechanism are studied.…”

Section: Introductionmentioning

confidence: 99%

“…For fast-moving parallel mechanisms, trajectory planning is also of great importance. Oarcea et al [10] studied two motion profiles (constant velocity and trapezoidal velocity) using the Dassault Systems Solidworks and Simulink Simscape Multibody Software. In [11,12], the integration of non-circular gears is specifically used to operate on only one precise trajectory.…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of a Five-Bar Planar Manipulator and Its Controller by Using Different Algorithms for Minimum Shaking Forces and Moments for the Largest Trajectory in a Usable Workspace

2022

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In this paper, a structural design and controller optimization process for a five-bar planar manipulator are studied using three different population-based optimization techniques: particle swarm optimization, genetic algorithm, and differential evolution. First, the desired kinematic properties of the manipulator, such as the position, velocity, and acceleration of the endpoint, are determined using inverse kinematics. Then, an optimization problem is created to minimize the shaking force and moments, and the desired kinematic quantities are implemented as constraints. All the link properties of the manipulator are defined as design variables, and the optimization results are obtained. The results show that it is possible to significantly reduce the shaking force and moment significantly thanks to the optimal design parameters. Finally, the controller is optimized to find the best PID gains considering the forward kinematics of the manipulator. It is observed that the shaking force and shaking moment can be reduced by 99% and 54%, respectively, which has a very positive effect on the accuracy of the trajectory tracking. Moreover, the performances of the optimization methods are compared by using the same number of iterations in the calculations, and thus, it can be seen that the GA method achieves the best results compared to the others. Therefore, the results of this study are of utmost importance for a manufacturer, who wants to design a five-bar planar manipulator and its controller.

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Design and implementation of a 2-DOF 5R parallel mechanism with a coaxial-driven layout

Zhang,

Hou,

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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In order to expand and improve the reachable workspace of planar parallel manipulators, a 2-DOF 5R parallel mechanism with a coaxial-driven layout is proposed. The configuration analysis and structural design are carried out, and the kinematic model is presented to conduct simulation analysis. The results indicate that the layout with the axes of the two driving devices overlapping has a larger workspace and a more compact structure. Meanwhile, a closed-loop PID control system is established to evaluate the accuracy of the proposed mechanism and analyse the kinematic error under different gain parameters. Simulation results indicate that the kinematic performance of the mechanism has improved. The control system is constructed based on using a motion control card as the primary control component and two servo motors as the drive device. Additionally, gain values are adjusted by the driver to reduce the deviation of the servo motors. Finally, the design of the prototype is deployed, and the experiment proved that the 2-DOF 5R planar parallel mechanism (PPM) with a coaxial-driven layout has the advantages of a large workspace, fast dynamic response, high stiffness, and easy control. The design of the 2-DOF 5R PPM solves the problem of single operation and high repeatability, which is increasingly utilized in the fields of electronics, food, daily chemicals, and pharmaceuticals.

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Trajectory planning of a 3-RRRRR planar parallel robot

Cited by 3 publications

References 5 publications

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Optimal Design of a Five-Bar Planar Manipulator and Its Controller by Using Different Algorithms for Minimum Shaking Forces and Moments for the Largest Trajectory in a Usable Workspace

Design and implementation of a 2-DOF 5R parallel mechanism with a coaxial-driven layout

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