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A Comparative Study on Kinematic Calibration for a 3-DOF parallel manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 206-230页

作者： Haiyu Wu Lingyu Kong Qinchuan Li Hao Wang Genliang Chen State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Intelligent Robot Research Center Zhejiang LabHangzhou 311100China School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.

关键词： Kinematic calibration parallel manipulator Error modeling Product of exponential(POE)

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Dimensional Synthesis of a 3-DOF parallel manipulator with Full Circle Rotation

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 830-840页

作者： NI Yanbing WU Nan ZHONG Xueyong ZHANG Biao School of Mechanical Engineering Tianjin University FAW Jiefang Automotive Company LtdAxle Filiale

parallel robots are widely used in the academic and industrial fields. In spite of the numerous achievements in the design and dimensional synthesis of the low-mobility parallel robots, few research efforts are directed towards the asymmetric 3-DOF parallel robots whose end-effector can realize 2 translational and 1 rotational（2T1R） motion. In order to develop a manipulator with the capability of full circle rotation to enlarge the workspace, a new 2T1 R parallel mechanism is proposed. The modeling approach and kinematic analysis of this proposed mechanism are investigated. Using the method of vector analysis, the inverse kinematic equations are established. This is followed by a vigorous proof that this mechanism attains an annular workspace through its circular rotation and 2 dimensional translations. Taking the first order perturbation of the kinematic equations, the error Jacobian matrix which represents the mapping relationship between the error sources of geometric parameters and the end-effector position errors is derived. With consideration of the constraint conditions of pressure angles and feasible workspace, the dimensional synthesis is conducted with a goal to minimize the global comprehensive performance index. The dimension parameters making the mechanism to have optimal error mapping and kinematic performance are obtained through the optimization algorithm. All these research achievements lay the foundation for the prototype building of such kind of parallel robots.

关键词： parallel manipulator kinematic analysis dimensional synthesis

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An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

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Chinese Journal of Aeronautics 2015年第2期28卷 582-592页

作者： Tian Tixian Jiang Hongzhou Tong Zhizhong He Jingfeng Huang Qitao School of Mechatronics Engineering Harbin Institute of Technology

A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.

关键词： Hydraulically Identification Inertial parameter parallel manipulator Sinusoidal vibration

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Workspace and Accuracy Analysis on a Novel 6‑UCU Bone‑attached parallel manipulator

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Chinese Journal of Mechanical Engineering 2022年第3期35卷 148-160页

作者： Kaijie Dong Duanling Li Xingyu Xue Chang Xu Haowei Wang Xianming Gao School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China th Research Institute of China Electronics Technology Group Corporation Hefei 340100China Beijing Institute of Spacecraft System Engineering China Academy of Space TechnologyBeijing 100094China College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 712000China

With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical *** bone-attached robot,a popular orthopedic robot in recent years,has a tendency of miniaturization and ***,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force *** optimize the structure and make it more compact,the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint,and workspace model is established through spherical coordinate search *** study also analyzes the influence of structural parameters on workspace,which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large ***,to improve the motion accuracy,an error modeling method is developed based on the structure of 6-UCU *** to this established error model,the output pose error curves are drawn using MATLAB software when the structure parameters change,and the influence of the structure and pose parameters change on the output pose error of PMs is *** proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.

关键词： Medical robot Bone-attached robot parallel manipulator Workspace analysis Accuracy analysis

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A modified similitude analysis method for the electro-mechanical performances of a parallel manipulator to solve the control period mismatch problem

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Science China(Technological Sciences) 2022年第3期65卷 541-552页

作者： WU Jun SONG YuYao LIU ZiLin LI GuoFa State Key Laboratory of Tribology and Institute of Manufacturing Engineering Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control Beijing 100084China Key Laboratory of CNC Equipment Reliability Ministry of EducationJilin UniversityChangchun 130022China

Due to the discrete feature and performance limitation of the numerical controller,the control period sometimes cannot meet the constraints of the scaled model in similitude analysis,which brings the control period mismatch *** traditional similitude analysis methods are not able to solve this problem since the controller is treated as continuous system in these *** paper proposes a modified similitude analysis method to solve the control period mismatch problem,and the electro-mechanical performances of a 2-DOF parallel manipulator is *** on the model of dynamic and control system,most of the similitude laws are derived by taking the controller as continuous *** the transfer function of the controller in discrete form is established,and the similitude law related to control period is derived to figure out the cause of mismatch *** modified method,named long period equivalent,is proposed to solve the mismatch problem by using the least square method and superposition ***,the scaled model of the parallel manipulator is determined based on the modified similitude analysis method.

关键词： similitude analysis control period mismatch parallel manipulator electro-mechanical performance discrete system

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Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2007年第12期8卷 1928-1937页

作者： ZHU Xiao-cong TAO Guo-liang CAO Jian The State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 China

This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances.

关键词： Pneumatic muscle parallel manipulator Pressure observer Adaptive robust control Trajectory tracking

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Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

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Journal of Central South University 2011年第5期18卷 1554-1562页

作者：皮阳军王宣银顾曦 State Key Laboratory of Fluid Power Transmission and Control Zhejiang University State Key Laboratory of Mechanical Transmission Chongqing University

The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the *** solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the ***,a cross-coupling control approach is introduced to the synchronous tracking control of the *** position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous ***,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to ***,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.

关键词： synchronization error cross-coupling cascade control hydraulic dynamics parallel manipulator degree of freedom

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Dynamics and Control of a Novel 3-DOF parallel manipulator with Actuation Redundancy

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Machine Intelligence Research 2013年第6期10卷 552-562页

作者： Xue-Mei Niu Guo-Qin Gao Xin-Jun Liu Zhi-Da Bao School of Electrical and Information Engineering Jiangsu University Department of Mechanical Engineering Tsinghua University

This paper deals with the dynamics and control of a novel 3-degrees-of-freedom(DOF)parallel manipulator with actuation *** to the kinematics of the redundant manipulator,the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism,and the driving force is optimized by utilizing the minimal 2-norm *** on the dynamic model,a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking ***,an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free *** simulation results indicate the efectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators.

关键词： parallel manipulator redundant actuation dynamics modelling sliding mode control weighed integral gain reaching law

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DIMENSIONAL DESIGN THEORY AND METHODOLOGY OF 6-DOF SCISSOR parallel manipulator

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Chinese Journal of Mechanical Engineering 2004年第1期17卷 6-10页

作者： TangXiaoqiang LiTiemin WangJinsong DepartmentofPrecisionInstruments TsinghuaUniversityBeijing100084China

parallel manipulators have many advantages over serial manipulators in termsof high load/weight ratio, velocity, stiffness and precision. A dimensional design theory andmethodology of six degrees of freedom scissor parallel manipulator (SPM) is investigated. The SPMkinematics inverse equation is given. Based on the formulation of the local dexterity and thedefinition about the indexes of workspace incircle radius, the effects of the design parameters onthe dexterity and workspace are discussed. Moreover the incircle radius change ratio about workspaceare defined and used as the evaluated indicator to analyze the effects of the design parameters onthe performances. A dimensional design theory that could satisfy the requirement of dexterity andworkspace is proposed. The dimensional design theory and methodology can be of help in the design,trajectory planning and control of parallel manipulator.

关键词： Dimension Design theory parallel manipulator

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Combined method for parallel manipulator configuration design

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High Technology Letters 2005年第3期11卷 250-256页

作者： Guan Liwen（关立文） Wang Jinsong Wang Liping Department of Precision Instrument Engineering Tsinghua University Beijing 100084 P.R. China

Configuration design is an essential, creative and decision-making step m parallel manipulator design process, in which modeling and assembly are iterative and trivial. Combined approach with automatic parametric modeling and automatic assembly is proposed for parallel manipulator configuration design. The design process and key techniques, such as configuration design, configuration verification, poses calculation of all parts in parallel manipulator, virtual assembly and etc., are discussed and demonstrated by an example. A software package is developed for parallel manipulator configuration design based on the proposed method with Visual C＋＋ and UG/OPEN on Unigraphics.

关键词： parallel manipulator combined configuration design automatic parametric modeling automatic assembly

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