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Dynamics and Optimal Design of a 3-DoF parallel manipulator for Pick-and-Place Applications

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Dynamics and Optimal Design of a 3-DoF Parallel Manipulator ...

第17届中国系统仿真技术及其应用学术年会（17th CCSSTAE 2016）

作者： Lou Yun-jiang Liao Bin Key Lab for Advanced Motion Control Technology and Modern Automation Equipments School of Mechatronics Engineering and AutomationHarbin Institute of Technology(Shenzhen)

Robot acceleration is the bottleneck for high-speed pick-and-place *** this paper,the extreme acceleration at null velocity is proposed to characterize the acceleration *** dynamic model of the V3 robot is developed for computing the extreme *** each subchain of the robot is comparable to a cantilever beam structure,its bending deflection may be considerable and thus leads to manipulation *** bending stiffness is thus proposed characterized by the bending *** the acceleration and the bending stiffness with kinematic indices of velocity,accuracy,and dexterity,the optimal design problem is formulated to maximize the dextrous workspace having specified good *** optimal structure shows greatly improved performance in workspace,velocity,acceleration,and accuracy.

关键词： Dynamics Bending Deflection Pick-and-Place Optimal Design parallel manipulator

Application of immune evolutionary algorithm to determine the position and rotation of parallel manipulator

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Application of immune evolutionary algorithm to determine th...

第24届中国控制与决策会议

作者： Shu-Ping Zhang 1 , Ke Yu 2 1. School of Electronic and Electrical Engineering, Shanghai Second Polytechnic University, Shanghai 2012092. Aspen Technology, Inc. Shanghai Office, Shanghai, 201203

In this paper, we propose an immune evolutionary algorithm (IEA)-based approach to determine the pose of a parallel manipulator from the knowledge of a given set of points in object space. We choose several sets of point in which the configuration and the numbers of point are different. We study the influence generated by the different numbers and configuration of points in object space, and study the performance of the algorithm when an image sequence is used as experiment data sets. Experiment results show that the IEA-based algorithm is free of the configuration of points, and its calculation accuracy will be improved when the number of points increases. It overcomes two problems: "ignore parameter of the geometric constraint" and "need better iteration of the initial value problem". It has fast convergence, high precision and good robustness.

关键词： Artificial Immune System parallel manipulator Position and Orientation Evolutionary Algorithm Pose Identification

Mechanism Design,Position Analysis and Simulation of a New Six Degree-of-Freedom Serial-parallel manipulator

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Mechanism Design,Position Analysis and Simulation of a New S...

E-Business·Creative Design·Manufacturing——2009 IEEE 10th International Conference on Computer-Aided Industrial Design & Conceptual Design（CAID&CD’2009）

作者： Yanwei Zhang,Guohua Cui,Zhenjun Sun College of the Mechanical and Electric Engineering HeBei Engineering University Handan,Hebei Province 056038,China

In this paper,a new 6-DOF serial and parallel manipulator with a 3-rotation parallel mechanism and a 3-DOF serial manipulator(two-prismatic plus one-revolute)is synthesized and investigated according to the theories of the structure synthesis of robot *** is able to perform spatial transformational movement,rotation,hoisting,tilting,planar rotation and tilted *** mechanism is analyzed,its kinematic position equations are developed,inverse and forward kinematics of its fine tuning structure have been *** simulation with ADMAS is conducted,which verified the correctness of the design,also an application case of this serial-parallel mechanism is *** mechanism features high workspace volume,rotational flexibility,stable balance,precision and load capacity,and can be extended to agricultural planting and picking,lumber machines and other areas.

关键词： parallel manipulator 6-DOF Mechanism design Position analysis Simulation

A Novel 2T2R 4-DOF parallel manipulator

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A Novel 2T2R 4-DOF Parallel Manipulator

2011 International Conference on Ecological Protection of Lakes-Wetlands-Watershed and Application of 3S Technology（EPLWW3S 2011）

作者： Caixia Fan Hongzhao Liu Yanbin Zhang Gexia Yuan Caixia Fan Gexia Yuan Xi’an University of Technology Department of Mechanical and Precision Instrumental Engineering Henan University of Science and Technolog Department of Electromechanical Engineering Jiaozuo University Department of Electromechanical Engineering Baoji University of Arts and Sciences Mechanical and Electrical Institute

A novel four-degree-of-freedom（DOF） parallel manipulator（PM） with two-translations and two-rotations（2T2R）is presented. The manipulator has four limbs containing two adjacent RPU limbs and two adjacent SPS limbs, connecting the base to the moving platform. Using the constraint screw theory, the constraint and motion of the manipulator are analyzed, and furthermore the singular configuration is carefully discussed. The manipulator can be developed for the 4-axis parallel machine tool, the damping device, the damping device, the vibrating screen and so on.

关键词： parallel manipulator screw theory singular configuration

Design and Kinematics of a Novel Three DOF parallel manipulator

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Design and Kinematics of a Novel Three DOF Parallel Manipula...

2005国际机械工程与力学会议

作者： Ketao ZHANG Yuefa FANG Chuangfeng HUAI Department of Mechanical Engineering Beijing Jiaotong University

A novel 3-DOF parallel manipulator is presented that can be found in a cube paper fold, based on the concept of mechanisms. The parallel manipulator consists of a base plate, a movable platform, and four connecting legs. The moving platform has three degrees of freedom, which are two degrees of rotational freedom and one degree of translational freedom, with respect to the base plate. Each of the connecting leg contains a closed-loop subchain, which is symmetrical six-bar spherical metamorphic mechanism. The new parallel manipulator is very interesting for the reason of only revolute joint architecture, identical limb kinematic chain and symmetrical structure. The configuration design of the new parallel manipulator is introduced. The concept of generalized kinematic pair and screw theory are applied to the mobility analyses of the novel parallel manipulator. And the analysis results provide information on motion characteristics of the parallel manipulator. The inverse and forward kinematics problems are described. The proposed manipulator has a wide application in the fields of industrial robots, simulators, micro-motion manipulators, and parallel kinematics machines.

关键词： parallel manipulator metamorphic mechanism screw theory Mobility kinematics

Gravity-Based Kinetostatic Modeling of parallel manipulators Using Screw Theory

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Chinese Journal of Mechanical Engineering 2023年第6期36卷 73-86页

作者： Chao Yang Fengli Huang Wei Ye Qiaohong Chen College of Mechanical and Electrical Engineering Jiaxing UniversityJiaxing 314001China National and Local Joint Engineering Research Center of Reliability Analysis and Testing for Mechanical and Electrical Products Zhejiang Sci-Tech UniversityHangzhou 310018China School of Computer Science and Technology Zhejiang Sci-Tech UniversityHangzhou 310018China

The pose accuracy of parallel manipulators(PMs)is a key index to measure their *** the grav-ity-based kinetostatic model of a parallel robot provides an important basis for its error composition and accuracy *** this paper,a kinetostatic modeling approach that takes real gravity distribution into consideration is proposed to analyze the influence of gravity on the infinitesimal twist and actuator forces of ***,the duality of the twist screw and constraint wrenches are used to derive the gravity-attached constraint wrenches independent of the external load and the limb stiffness matrix corresponding to the kinematics-based constraint ***-ond,the gravity model of the mechanism is established based on the screw theory and the principle of virtual ***,the analytical formulas of the infinitesimal twist and the actuator force of PMs are obtained,and the influences of the external load,platform gravity,and rod gravity on the stiffness of the mechanism are *** non-overconstrained 3RPS and overconstrained 2PRU-UPR PMs are taken as examples to verify the proposed *** research proposes a methodology to analyze the infinitesimal deformation of the mechanism under the influence of gravity.

关键词： parallel manipulator Kinetostatic model Gravity Screw theory

Non-Negative Adaptive Mechanism-Based Sliding Mode Control for parallel manipulators with Uncertainties

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Computers, Materials & Continua 2023年第2期74卷 2771-2787页

作者： Van-Truong Nguyen Department of Mechatronics Engineering Hanoi University of IndustryHanoi159999Vietnam

In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external *** proposed approach is a hybrid scheme of the online non-negative adaptive mechanism,tracking differentiator,and nonsingular fast terminal sliding mode control(NFTSMC).Based on the online non-negative adaptive mechanism,the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC *** proposed controller has several advantages such as simple structure,easy implementation,rapid response,chattering-free,high precision,robustness,singularity avoidance,and finite-time *** all control parameters are online updated via tracking differentiator and non-negative adaptive law,the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ***,simulation results validate the effectiveness of the proposed method.

关键词： parallel manipulator uncertainties and disturbances nonsingular fast terminal sliding mode control non-negative adaptive mechanism tracking differentiator

Compound Impedance Control of a Hydraulic Driven parallel 3UPS/S manipulator

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Chinese Journal of Mechanical Engineering 2020年第4期33卷 63-76页

作者： Lihang Wang Shaofei Cui Chong Ma Lijie Zhang Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao 066004China

The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying ***,the high-precision trajectory tracking control of the hydraulic parallel manipulator is challenged by the coupling dynamics of the parallel mechanism and the high nonlinearities of the hydraulic *** this study,the trajectory control of a 3-DOF symmetric spherical parallel 3UPS/S manipulator is *** on the highly coupling and nonlinear system dynamics,a compound impedance control method for a hydraulic driven parallel manipulator is proposed,which combines impedance control with the spatial motion characteristics of a parallel *** control strategy is divided into the inner and outer *** inner loop controls the impedance of the actuator in the joint space,and the outer loop controls the impedance of the entire platform in the task space to compensate the coupling of the actuators and improve the tracking accuracy of the moving *** impedance control does not require force or pressure sensors and is less dependent on modeling *** experimental results show that the compound impedance control effectively improves the tracking accuracy of the moving *** research proposes a compound impedance control strategy for a 3-DOF hydraulic parallel manipulator,which has high tracking precision with a simple and cheap system configuration.

关键词： parallel manipulator Impedance control Hydraulic servo system Trajectory tracking

Geometric Approach for Kinematic Analysis of a Class of 2-DOF Rotational parallel manipulators

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Chinese Journal of Mechanical Engineering 2012年第2期25卷 241-247页

作者： DONG Xin YU Jingjun CHEN Bin ZONG Guanghua Robotics Institute Beihang UniversityBeijing 100191China

Euler angles are commonly used as the orientation representation of most two degrees of freedom（2-DOF） rotational parallel mechanisms（RPMs）,as a result,the coupling of two angle parameters leads to complexity of kinematic model of this family of *** a simple analytical kinematic model with respect to those parameters representing the geometrical characteristics of the mechanism,is very helpful to improve the performance of *** this paper,a new geometric kinematic modeling approach based on the concept of instantaneous single-rotation-angle is proposed and used for the 2-DOF RPMs with symmetry in a homo-kinetic *** authors＇ knowledge,this is a new contribution to parallel *** means of this method,the forwards kinematics of 2-DOF RPMs is derived in a simple way,and three cases i.e.4-4R mechanism（Omni-wrist III）,spherical five-bar one,and 3-RSR1-SS one demonstrate the validity of the proposed geometric *** addition,a novel 2-DOF RPM architecture with virtual center-of-motion is presented by aid of the same *** result provides a useful tool for simplifying the model and extending the application of the RPMs.

关键词： parallel manipulator kinematics singularity workspace