Article
Engineering, Mechanical
Andrea Martin-Parra, Sergio Juarez-Perez, Antonio Gonzalez-Rodriguez, Angel Gaspar Gonzalez-Rodriguez, Alfonso Isidro Lopez-Diaz, Guillermo Rubio-Gomez
Summary: This study proposes a novel design for fully-constrained planar cable-driven parallel robots (CDPRs), aiming to improve their workspace by adding passive carriages to the robot frame. The kinematic and static models as well as a preliminary approach for static equilibrium resolution are presented. The investigation of the workspace shows a significant improvement compared to conventional planar CDPRs in various situations.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Antonio-Marius-Flavius Luputi, Erwin-Christian Lovasz, Marco Ceccarelli, Carmen Sticlaru, Ana-Maria Scurt (Stoian)
Summary: This paper presents a study of a novel geared planar parallel manipulator with a 3-R (PRRGR)RR structure, using geared linkages with linear actuators and slider cranks as legs. The study demonstrates the kinematic advantages of this manipulator through numerical examples and performance analysis, comparing it with an equivalent planar parallel manipulator with the same links lengths.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Engineering, Mechanical
Andreas Mueller
Summary: This paper presents a systematic modeling approach for PKM with complex limbs, utilizing local resolution of loop constraints to generalize the formulation for PKM with simple limbs, employing Lie group formulation for deriving the equations of motion, and exploiting the PKM topology in a parallel computation scheme for computationally efficient evaluation.
MECHANISM AND MACHINE THEORY
(2022)
Article
Robotics
Sven Lilge, Jessica Burgner-Kahrs
Summary: This study proposes a Cosserat rod based kinetostatic modeling framework for tendon-driven parallel continuum robots, allowing for efficient solutions to forward, inverse, and velocity kinetostatic problems. The kinematic properties of these robots, such as reachable workspace, singularities, manipulability, and compliance, are studied in detail. Experimental results validate the accuracy of the derived modeling approach.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Robotics
Ruobing Wang, Yangmin Li
Summary: A new planar cable parallel robot driven by four cable-and-pulley differentials is proposed and analyzed, with a design featuring an additional pulley to improve modeling accuracy and simplify the model. Design parameters were determined through multi-objective optimal design for optimal workspace and stiffness. The differentially driven CPR was evaluated by comparing performance indices with a fully actuated CPR.
Review
Computer Science, Interdisciplinary Applications
Yi Lu, Nijia Ye, Zefeng Chang
Summary: This study establishes a general acceleration model and Hessian matrix for the kinematic limbs of parallel manipulators using new skew-symmetric matrices. It derives and proves extended formulas for the skew-symmetric matrices, transforms the differentiation of sub-Jacobian matrices into the multiplication of general velocity transposition, and derives formulas for solving Hessian matrices and accelerations for typical linear kinematic limbs. The Hessian matrices and accelerations are verified through simulation of a 3-DOF RPS + UPU + SPR type parallel manipulator.
ARCHIVES OF COMPUTATIONAL METHODS IN ENGINEERING
(2021)
Article
Engineering, Mechanical
Erika Ottaviano, Andrea Arena, Vincenzo Gattulli
Summary: This paper presents a geometrically exact analytical model for cable-driven parallel manipulators, aiming to investigate the precise positioning of a rigid body in a Cartesian space in three dimensions. The model includes the mass, elasticity, and sag effect of the cables, and solves the direct and inverse kinematic problems through nonlinear equations.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Kun Wang, Xiaoyong Wu, Yujin Wang, Jun Ding, Shaoping Bai
Summary: A novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed in this paper, offering advantages such as fewer active limbs, larger workspace, and high compactness. The kinematic study reveals interesting features of this manipulator, including multiple operation modes, small footprint, and large workspace volume.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Engineering, Aerospace
Guangyu-yu Dong, Yu-hong Du, Wen-peng Li
Summary: This paper presents a state-of-the-art kinematic algorithm for the 6RUS parallel manipulator, addressing the challenges associated with accurately determining the pose and motion of the end-effector relative to the base. The algorithm offers improved accuracy, efficiency, and robustness, and holds significant potential for enhancing the design, control, and trajectory planning of 6RUS parallel manipulators. The results contribute to the growing body of knowledge in parallel manipulator research and pave the way for future developments in the field.
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING
(2023)
Article
Engineering, Mechanical
Anton Antonov, Victor Glazunov
Summary: This article discusses a novel parallel manipulator with six degrees of freedom and three kinematic chains, analyzing its characteristics and performance through mechanism description, mobility analysis, positioning analysis, velocity analysis, and workspace analysis.
MECHANISM AND MACHINE THEORY
(2021)
Article
Mechanics
Jaime Gallardo-Alvarado
Summary: The kinematics of a parallel-serial manipulator is studied using geometric algebra and the theory of screws. The hybrid robot manipulator consists of a 3-RRR planar parallel manipulator and a spatial PRR serial manipulator attached to the center of the moving platform. The combination of the motions from the parallel and serial chains allows for general motions with the combined manipulator. Closed-form solutions are obtained for the inverse-forward position analysis, and velocity and acceleration analyses are approached using reciprocal screw theory. Numerical examples are provided to validate the kinematic analysis method employed.
Article
Mechanics
Xing Zhang, Mingxing Yang, Dejun Mu, Hongrui Wang
Summary: The article proposes a general approach for solving the unified formulas of the constrained Jacobian matrix and constrained Hessian matrix of 3T1R parallel manipulators. The approach is validated through the analysis of a typical parallel manipulator, and the proposed method provides promising results.
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES
(2023)
Article
Engineering, Mechanical
Nicholas Baron, Andrew Philippides, Nicolas Rojas
Summary: This paper introduces a novel dynamically balanced kinematically redundant planar parallel architecture, optimizing the balancing parameters of parallelogram linkages to reduce the mass and inertia of the system. The elimination of shaking forces and moments is confirmed through simulation using the multi-body dynamic simulation software msc adams.
JOURNAL OF MECHANICAL DESIGN
(2021)
Article
Computer Science, Artificial Intelligence
Fei Liu, Hailin Huang, Bing Li, Fengfeng Xi
Summary: In this study, a novel parallel learning particle swarm optimizer (PLPSO) is proposed to enhance global search capability by dividing the original particle swarm into two independent subpopulations and adding delay information. The performance of the PLPSO algorithm outperformed nine other PSO algorithms on CEC2013 benchmark functions and robotic arm IK problems, confirming its feasibility in IK problem solving.
INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS
(2021)
Article
Engineering, Mechanical
Lingmin Xu, Wei Ye, Qinchuan Li
Summary: The article introduces a new type of 2R1T 2PRU-PSR PM and evaluates its mobility and kinematic performance using geometric algebra. The dimensional parameters of the PM are optimized to improve its transmission workspace. The stiffness and dynamic analysis of the PM are also conducted, and a prototype of a five-axis hybrid machine tool is built based on the optimized PM. Machining experiments demonstrate that the 2PRU-PSR PM is suitable as a parallel module for five-axis hybrid machines.
MECHANISM AND MACHINE THEORY
(2022)
