Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom

Gao, Zhen; Zhang, Dan

doi:10.3390/su3112217

Cited by 15 publications

(14 citation statements)

References 28 publications

(34 reference statements)

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“…The fixed platform is called base and the moving platform is called platform. The parallel robot presents advantages in terms of dynamic properties, load carrying capacity, high accuracy and stiffness, which are widely used in the industry [2]. However, the parallel robot orientation-workspace is reduced if it is compared with the serial robot orientation workspace.…”

Section: Introductionmentioning

confidence: 99%

Maximal Singularity-Free Orientation Subregions Associated with Initial Parallel Manipulator Configuration

Garcia¹,

Campos²

2018

Robotics

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Reduced workspace is the main parallel robot disadvantage. It is generally due to the robot configuration, mainly the platform orientation constraint, the present work intends to find the maximum sphere within the orientation workspace, i.e., the singularity-free orientation regions. These regions are related to the platform orientation through Roll-Pitch-Yaw angles. Therefore, an optimization genetic algorithm is used to determine the initial platform orientation corresponding to the largest sphere volume. In this algorithm, the geometrical parameters and the direct and inverse singularities are the optimization constraints. The geometrical constraints may be studied using vectorial analysis. The reciprocity property from screw theory is implemented to analyze the direct and inverse kinematic. In this work it is used a methodology to verify the singularity closeness measure associated with direct kinematic. This measure is related to the rate of work done by each leg upon the platform twist. To determine how close is the parallel robot to a direct singularity a index value is proposed. It is considered that the passive joints reachable regions may be limited by a cone, whereby the cone symmetric axis is the same than the passive joint axis. In the optimization problem, the sphere volume, i.e., the maximal angular displacement of the moving platform around any axis is the objective function. Thus, the genetic algorithm individuals explore all feasible regions looking for an optimal solution.

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Section: Introductionmentioning

confidence: 99%

Maximal Singularity-Free Orientation Subregions Associated with Initial Parallel Manipulator Configuration

Garcia¹,

Campos²

2018

Robotics

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“…In [19], a condition index was put forward as a criterion for optimizing the workspace for a three degree-of-freedom robotic mechanism for achieving a "well-conditioned" workspace performance. In [20] and [21], the volume of the workspace of robotic mechanisms was employed as a criterion for optimizing the workspace.…”

Section: Introductionmentioning

confidence: 99%

Interactions and Optimizations Analysis between Stiffness and Workspace of 3-UPU Robotic Mechanism

Zhang

Wei

2017

Measurement Science Review

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The interactions between stiffness and workspace performances are studied. The stiffness in x, y and z directions as well as the workspace of a 3-UPU mechanism are studied and optimized. The stiffness of the robotic system in every single moveable direction is measured and analyzed, and it is observed that in the case where one tries to make the x and y translational stiffness larger, the z directional stiffness will be reduced, i.e. the x and y translational stiffness contradicts with the one in z direction. Subsequently, the objective functions for the summation of the x and y translational stiffness and z directional stiffness are established and they are being optimized simultaneously. However, we later found that these two objectives are not in the same scale; a normalization of the objectives is thus taken into consideration. Meanwhile, the robotic system’s workspace is studied and optimized. Through comparing the stiffness landscape and the workspace volume landscape, it is also observed that the z translational stiffness shows the same changing tendency with the workspace volume’s changing tendency while the x and y translational stiffness shows the opposite changing tendency compared to the workspace volume’s. Via employing the Pareto front theory and differential evolution, the summation of the x and y translational stiffness and the volume of the workspace are being simultaneously optimized. Finally, the mechanism is employed to synthesize an exercise-walking machine for stroke patients.

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“…3-PPPS parallel manipulator is claimed as the simplest 6 DOF manipulator. A new parallel mechanism based on simulation driven design, which can generate three degree of freedoms is proposed in [5]. The work space is calculated for this mechanism using boundary searching method and then it is optimized using swarm algorithm.…”

Section: Introductionmentioning

confidence: 99%

Optimal work space of parallel continuum manipulator consisting of compact bionic handling arms

Singh¹,

Singh²,

Pathak³

2017

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-Parallel continuum manipulators are the main research focus these days. Parallel manipulators have other advantages than serial manipulators in terms of acceleration and positioning. In this work, we proposed the use of two Compact Bionic Handling Arm (CBHA) manipulators, attaching them to a common platform, to constitute a parallel continuum manipulator. A relation is developed for optimal platform length as a function of the inter-distance between bases of two arms, by using optimization of the volume of the common work space realized from multiple CBHA. The work is extended to parallel continuum manipulator consisting of three CBHA manipulators. Same for this case, after identifying work space of this parallel continuum manipulator, a relation is developed between different design parameters of manipulator using optimization of volume of its work space. As the work space is the main limitation in case of parallel manipulators, this approach to generate relation is useful for rigid as well as continuum manipulators to design them for optimal work space as per required application.

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Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom

Cited by 15 publications

References 28 publications

Maximal Singularity-Free Orientation Subregions Associated with Initial Parallel Manipulator Configuration

Maximal Singularity-Free Orientation Subregions Associated with Initial Parallel Manipulator Configuration

Interactions and Optimizations Analysis between Stiffness and Workspace of 3-UPU Robotic Mechanism

Optimal work space of parallel continuum manipulator consisting of compact bionic handling arms

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