ultiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities

Gao, Wu

doi:10.4173/mic.2012.3.3

Cited by 28 publications

(19 citation statements)

References 28 publications

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“…A problem inherent in Gough-Stewart platform design is that the performance is highly dependent on the geometry; furthermore, different performance measures (workspace, dexterity, etc.) are mutually dependent [33], which complicates the kinematics of the mechanism, exhibiting a highly nonlinear behaviour.…”

Section: Mathematical Modelling Of Gough-stewart Platformmentioning

confidence: 99%

Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage

Hernández-Gómez

Medina

Miguel

et al. 2018

Mathematical Problems in Engineering

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In this work we develop a mathematical model to estimate the error for inverse kinematics problem for Gough-Stewart parallel mechanisms. We propose the estimation error method to include manufacture, assembly, backlash, and sensing errors. We provide the error transmission matrices for the length of each leg of the hexapod, which permits evaluation of the accuracy error in the position of each one, given a desired position and orientation of the mobile platform. We also present numerical modelling in order to estimate the accuracy of the methodology herein proposed, for specific attitude operations corresponding to performing a successful ground-LEO nanosatellite optical link. In such a case, we were able to provide the required tolerances for the actuators in order to guarantee an orientation precision requirement of the order of milliradians.

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Section: Mathematical Modelling Of Gough-stewart Platformmentioning

confidence: 99%

Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage

Hernández-Gómez

Medina

Miguel

et al. 2018

Mathematical Problems in Engineering

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“…In [6] kinematic, workspace and singularity analyses of the robot are investigated . Furthermore, an structure optimization is performed in the design of such robot in [7].…”

Section: Introductionmentioning

confidence: 99%

Closed-form dynamic formulation of spherical parallel manipulators by Gibbs-Appell method

Abedloo

Molaei

Taghirad

2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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Spherical Parallel Robot (SPR) is a complex but widely used type of manipulators that performs only rotational motion. Dynamic analysis of SPR has a vital role in mechanical design, model-based controller, identification and fault detection of such robots. Complexity of SPR kinematic structure makes traditional dynamic modeling methods such as Newton-Euler, virtual work and Lagrange formulations a prohibitive task. In this paper a new procedure for deriving closed form dynamics of general SPR using Gibbs-Appell method is presented. The proposed method does not require any recursive computation or symbolic manipulation and dynamic matrices of the robot is directly derived in an explicit form. By using the proposed method, closed form dynamic formulation of a general 3DOF SPR, known as agile wrist, is obtained and it is verified for an arbitrary trajectory. The unique feature of the method presented in this paper, makes it promising to be used for other parallel manipulators.

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“…An arising problem in the design of a parallel mechanism comes from the fact that their performance is highly dependent on their geometric parameters and configurations as well as the different performance measures workspace, dexterity, etc are mutually dependent Wu, 2012 . In this work, the synthesis of a parallel spherical manipulator is carried out using a multi-objective optimization combined with GA.…”

Section: Introductionmentioning

confidence: 99%

Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms

Leal-Naranjo

Ceccarelli

Miguel³

et al. 2018

Lat. Am. j. solids struct.

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This paper presents a synthesis of a spherical parallel manipulator for a shoulder of a seven-degrees-of-freedom prosthetic human arm using a multi-objective optimization. Three design objectives are considered, namely the workspace, the dexterity, and the actuators torques. The parallel manipulator is modelled considering 13 design parameters in an optimization procedure. Due to the non-linearity of the design problem, genetic algorithms are implemented. The outcomes show that a suitable performance of the manipulator is achieved using the proposed optimization.

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ultiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities

Cited by 28 publications

References 28 publications

Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage

Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage

Closed-form dynamic formulation of spherical parallel manipulators by Gibbs-Appell method

Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms

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