Workspace analysis of 5-PRUR parallel mechanisms (3T2R)

Saadatzi, Mohammad Hossein; Masouleh, Mehdi Tale; Taghirad, Hamid D.

doi:10.1016/j.rcim.2011.12.002

Cited by 19 publications

(8 citation statements)

References 23 publications

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“…The structure of 5SPS-UPU parallel manipulator is shown in Fig.1. In order to enumerate the possibility, the Chebychev-Grübler-Kutzbach criterion is applied.A preliminary evaluation of the mobility of a kinematic chain can be found from the Chebychev-Grübler-Kutzbach formula [17].…”

Section: B Freedom Analysis and Calculationmentioning

confidence: 99%

Workspace Performance Investigation of a Multi-DOF Parallel Robot Manipulator

Li¹,

Li²

2019

IJET

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A five degree of freedom (DOF) parallel robot manipulator is proposed in this paper. Kinematics, workspace and dexterity performance of the 5-SPS-UPU parallel robot manipulator were systematically deduced. The proposed mechanism with two rotations and three translations includes the fixed platform, five identical legs, a passive-constrained leg, the moving platform and some joints. First the inverse of kinematics and Jacobian matrix was derived by using the coordinate transformation theory and differentiation method. Second the workspace of the novel robot is analyzed by the boundary search method through the software. A numerical analysis of the variation of posture and position workspace of the robot is presented. Third the dexterity performance of the proposed manipulator has been analyzed, and the best kinematic dexterity is 1.1. The analytic results show that the robot mentioned in this paper has a large effective workspace and dexterity, which can be widely employed in the field of industrial robots.

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Section: B Freedom Analysis and Calculationmentioning

confidence: 99%

Workspace Performance Investigation of a Multi-DOF Parallel Robot Manipulator

Li¹,

Li²

2019

IJET

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“…The constant-orientation workspace of a PM is a set of all feasible points for which the EE can reach for a prescribed orientation. Several methods are reported in the literature, 10,38 which range from numerical approaches to geometrical approaches (such as the usage of CAD software 39 ). It should be noted that several approaches based on interval analysis are proposed to solve the constantorientation workspace of PMs, and in this paper, following the same reasoning as the one proposed in ref.…”

Section: The Constant-orientation Workpace (Algorithm 1)mentioning

confidence: 99%

Determining the maximal singularity-free circle or sphere of parallel mechanisms using interval analysis

Kaloorazi

Masouleh

Caro³

2014

Robotica

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SUMMARYThis paper proposes a systematic algorithm based on the concept of interval analysis to obtain the maximal singularity-free circle or sphere within the workspace of parallel mechanisms. As case studies the 3-RPR planar and 6-UPS parallel mechanisms are considered to illustrate the relevance of the algorithm for 2D and 3D workspaces. To this end, the main algorithm is divided into four sub-algorithms, which eases the understanding of the main approach and leads to a more effective and robust algorithm to solve the problem. The first step is introduced to obtain the constant-orientation workspace and then the singularity locus. The main purpose is to obtain the maximal singularity-free workspace for an initial guess. Eventually, the general maximal singularity-free workspace is obtained. The main contribution of the paper is the proposition of a systematic algorithm to obtain the maximal singularity-free circle/sphere in the workspace of parallel mechanisms. The combination of a maximal singularity-free circle or sphere with the workspace analysis by taking into account the stroke of actuators, as additional constraint to the latter problem, is considered. Moreover, the center point of the circle/sphere is not restrained to a prescribed point.

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“…(3) leads to the vertex spaces of the corresponding leg, i.e., the workspace of a limb for a given orientation, with respect to the fixed frame [3]. By assuming (4) as the coordinates of the center point of each sphere given in Eq.…”

Section: (3)mentioning

confidence: 99%

On the approximated and maximal singularity-free workspace of 6-UPS parallel mechanisms using convex optimization

Mousavi

Karimi

Masouleh

2013

2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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This paper investigates the approximated workspace and the maximal singularity-free ellipsoid of a class of 6-UrS parallel mechanisms referred to as quadratic Gough-Stewart platforms. More emphasis is placed on finding the optimum ellipsoid, by taking into account the stroke of actuators, in which the mechanism exhibits no singularity, a definite asset in practice. Convex optimization is adopted for the mathematical framework of this paper which requires a matrix reformulation for the kinematic properties. For obtaining the approximated workspace, an exact approach which is composed of two convex optimization methods, called exact methods I & II, are proposed.For the maximal singularity-free ellipsoid, in order to find the optimal solution, a judicious iterative procedure, referred to as iterative method, is proposed which is an extension to a recent algorithm leading to a suboptimal solution. The computational time for the proposed algorithms are considerably low compared to other methods proposed in the literature for obtaining the singularity-free workspace which opens an avenue to use them as systematic algorithms for real-time purposes.

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Workspace analysis of 5-PRUR parallel mechanisms (3T2R)

Cited by 19 publications

References 23 publications

Workspace Performance Investigation of a Multi-DOF Parallel Robot Manipulator

Workspace Performance Investigation of a Multi-DOF Parallel Robot Manipulator

Determining the maximal singularity-free circle or sphere of parallel mechanisms using interval analysis

On the approximated and maximal singularity-free workspace of 6-UPS parallel mechanisms using convex optimization

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