Wrench Capabilities of Planar Parallel Manipulators and their Effects Under Redundancy

Firmani, Flavio; Nokleby, Scott B.; Podhorodeski, R. P.; Zibil, Alp

doi:10.5772/5428

Cited by 3 publications

(2 citation statements)

References 33 publications

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“…The manipulators with 2-RRR, 2-RPR, and 2-PRR structures are considered in the analysis since RRR, RPR, and PRR are the most useful architectures for three-legged planar parallel robots in industrial applications. 27,52 As is obvious, five generalized coordinates are needed and there are totally ten possible actuation schemes. The notations used in the formulations are depicted in Figure 1.…”

Section: Singularity Analysismentioning

confidence: 99%

Singularity analysis of two-legged planar parallel robots with three degrees of freedom

Özdemir

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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Planar two-legged parallel robots with three degrees of freedom have been suggested in the literature as a solution to reduce the leg interference problem of their conventional three-legged counterparts, and since then have attracted considerable attention. This paper presents a singularity analysis of these robots. Three alternatives, namely the robots with 2-RRR, 2-RPR, and 2-PRR structures are considered. Type I, II, and III singularity conditions are obtained taking into account all possible actuation schemes. Several singularity-free actuation schemes are enumerated and discussed. The performed analysis also shows that adjustable designs are possible for manipulators with 2-PRR structures to have singularity-free operation. The proposed design concept and its effectiveness are illustrated through numerical examples.

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Section: Singularity Analysismentioning

confidence: 99%

Singularity analysis of two-legged planar parallel robots with three degrees of freedom

Özdemir

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Among the different types of planar parallel manipulators, symmetric planar parallel manipulators have specific advantages. Therefore, several researchers have studied the workspace, 1,2 working modes, 3 singularity, 4,5 performance atlases, 6 kinematic design 7,8 and kinematic analysis, 9 static-stiffness analysis, and force characteristics 10,11 of these manipulators.…”

Section: Introductionmentioning

confidence: 99%

Determination of the closed-form workspace area expression and dimensional optimization of planar parallel manipulators

et al. 2016

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SUMMARYOptimization is an important step in the design and development of a planar parallel manipulator. For optimization processes, workspace analysis is a crucial and preliminary objective. Generally, the workspace analysis for such manipulators is carried out using a non-dimensional approach. For planar parallel manipulators of two degrees of freedom (2-DOF), a non-dimensional workspace analysis is very advantageous. However, it becomes very difficult in the case of 3-DOF and higher DOF manipulators because of the complex shape of the workspace. In this study, the workspace shape is classified as a function of the geometric parameters, and the closed-form area expressions are derived for a constant orientation workspace of a three revolute–revolute–revolute (3-RRR) planar manipulator. The approach is also shown to be feasible for different orientations of a mobile platform. An optimization procedure for the design of planar 3-RRR manipulators is proposed for a prescribed workspace area. It is observed that the closed-form area expression for all the possible shapes of the workspace provides a larger solution space, which is further optimized considering singularity, mass of the manipulator, and a force transmission index.

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A chattering-free sliding-mode controller for underwater vehicles with fault-tolerant infinity-norm thrust allocation

Soylu¹,

Buckham²,

Podhorodeski³

2008

Ocean Engineering

167

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Wrench Capabilities of Planar Parallel Manipulators and their Effects Under Redundancy

Cited by 3 publications

References 33 publications

Singularity analysis of two-legged planar parallel robots with three degrees of freedom

Singularity analysis of two-legged planar parallel robots with three degrees of freedom

Determination of the closed-form workspace area expression and dimensional optimization of planar parallel manipulators

A chattering-free sliding-mode controller for underwater vehicles with fault-tolerant infinity-norm thrust allocation

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