A Forward, Inverse Kinematics and Workspace Analysis of 3RPS and 3RPS-R Parallel Manipulators

Desai, Raj; Muthuswamy, Sreekumar

doi:10.1007/s40997-020-00346-9

Cited by 12 publications

(7 citation statements)

References 25 publications

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“…Figure 1 shows a 3-DOF 3RPS PM [24] that links the moving platform via the R-joint at point B i to the base through the spherical joint at point A i . Each chain consists of upper and lower links with three translational actuators.…”

Section: Structure Description and Kinematic Analysis Of The 3-rps Pmmentioning

confidence: 99%

Natural frequency prediction of the 3-RPS parallel manipulator using the substructure synthesis technology

Gong

Lou

2023

Robotica

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This paper proposed an elastodynamic modeling method combined with independent displacement coordinates and substructure synthesis technology. Firstly, the connecting rod was discretized, and the elastodynamic control equation for each element was established. The multipoint constraint element theory, linear algebra, and singularity analysis were used to identify the globally independent displacement coordinates of the manipulator. On this basis, the elastodynamic model using the substructure synthesis for the 3-PRS parallel manipulator (PM) was developed, with its natural frequencies distribution in the regular workspace discussed. The comparison with the finite-element results showed that the maximum error of the first three-order natural frequencies was within 1.03%, which verified the correctness of the analytical model. The proposed elastodynamic model included all the kinematic constraints of the manipulator without increasing the Lagrangian multiplier. The method is computationally efficient and assesses the dynamic behaviors of the mechanism at the predesign phase.

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Section: Structure Description and Kinematic Analysis Of The 3-rps Pmmentioning

confidence: 99%

Natural frequency prediction of the 3-RPS parallel manipulator using the substructure synthesis technology

Gong

Lou

2023

Robotica

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“…Scale optimization enhances the motion performance of parallel mechanisms, and reasonable geometric parameters are the foundation for achieving optimal performance [18]. Scale optimization methods mainly include the objective function approach and the performance map approach [19]. For example, Fang et al [20] optimized parameters for a 5PUS-PRPU parallel mechanism using the objective function method and through comparative analysis of the workspace before and after optimization validated the correctness of the approach.…”

Section: Introductionmentioning

confidence: 99%

Performance evaluation and dimensional optimization design of planar 6R redundant actuation parallel mechanism

Han,

Che,

Liu

et al. 2024

Robotica

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Aiming at the problems of small good workspace, many singular configurations, and limited carrying capacity of non-redundant parallel mechanisms, a full-redundant drive parallel mechanism is designed and developed, and its performance evaluation, good workspace identification, and scale optimization design are studied. First, the kinematics analysis of the planar 6R parallel mechanism is completed. Then, the motion/force transmission performance evaluation index of the mechanism is established, and the singularity analysis of the mechanism is completed. Based on this, the fully redundant driving mode of the mechanism is determined, and the good transmission workspace of the mechanism in this mode is identified. Then, the mapping relationship between the performance and scale of the mechanism is established by using the space model theory, and the scale optimization of the mechanism is completed. Finally, the robot prototype is made according to the optimal scale, and the performance verification is carried out based on the research of dynamics and control strategy. The results show that the fully redundant actuation parallel mechanism obtained by design optimization has high precision and large bearing capacity. The position repeatability and position accuracy are 0.053 mm and 0.635 mm, respectively, and the load weight ratio can reach 15.83%. The research results of this paper complement and improve the performance evaluation and scale optimization system of redundantly actuated parallel mechanisms.

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“…12 The many issues related with the 3-RRS PM have already been covered in the literature such as kinematic analysis, [13][14][15][16][17] dynamic analysis, [18][19][20] optimization and performance, [21][22][23] singularities, 24,25 dimensional synthesis, 26 workspace, 27 structure synthesis, 28 static analysis, 29 design modeling, 30 and mechanical error analysis. 31 Similarly, the issues related with the 3-RPS PM have also been explored in the literature such as its introduction, 32 velocity and acceleration analysis, 33,34 architecture and constraint singularities, 35 instantaneous motions, 36 kinematic synthesis, [37][38][39] position and workspace analysis, [40][41][42][43] dynamic parameters, 44 architecture optimization, 45 study kinematic mapping of the Euclidean group SE (3), 46,47 operation modes, 48 and its application in thrust-vectoring propulsion. 49 Since, both these manipulators have a common motion of 1T2R type and their planes are arranged such that they intersect at 120°in a common line that is, a plane arrangement of Y-pattern, they can be compared.…”

Section: Introductionmentioning

confidence: 99%

“…Similarly, the issues related with the 3-R P S PM have also been explored in the literature such as its introduction, 32 velocity and acceleration analysis, 33,34 architecture and constraint singularities, 35 instantaneous motions, 36 kinematic synthesis, 37–39 position and workspace analysis, 40–43 dynamic parameters, 44 architecture optimization, 45 study kinematic mapping of the Euclidean group SE (3), 46,47 operation modes, 48 and its application in thrust-vectoring propulsion. 49…”

Section: Introductionmentioning

confidence: 99%

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

Jain,

Jawale

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper strives to compare between two 3-Degree of Freedom (DoF) Spatial Parallel Manipulators (SPMs) belonging to the 3-[PP]S-Y family viz., 3-RRS and 3-RPS. The planes of the manipulators belong to this family are arranged in a Y-pattern such that they intersect at 120° in a common line. Both of these manipulators have a common motion of 1T2R (T: Translation, R: Rotation) type, and their comparison in this work is carried out by considering the effects of link tolerance and parasitic motions, for the same task space and End-Effector (EE) positions. Their respective position kinematic analysis is discussed initially. The comparison is then carried out by considering two different cases based on the sizes of the moving platform relative to the base platform. The errors are quantified and all the comparative results are represented with the aid of plots. The conclusions are summarized at the end that allow to know the better of the two manipulators for the given effects.

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A Forward, Inverse Kinematics and Workspace Analysis of 3RPS and 3RPS-R Parallel Manipulators

Cited by 12 publications

References 25 publications

Natural frequency prediction of the 3-RPS parallel manipulator using the substructure synthesis technology

Natural frequency prediction of the 3-RPS parallel manipulator using the substructure synthesis technology

Performance evaluation and dimensional optimization design of planar 6R redundant actuation parallel mechanism

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

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