A New Design of a 6-DOF Parallel  Robot

Pierrot, François; Uchiyama, Masaru; Dauchez, P.; Fournier, Alain

doi:10.20965/jrm.1990.p0308

Cited by 96 publications

(39 citation statements)

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“…Three 6-RUS manipulators include Hunt type (Hunt, 1983), Hexa (Pierrot, 1990) and a manipulator named Zamanov type by the authors as it was proposed by Zamanov (Merlet, 2006) Schematic of a manipulator is shown in Figure 2 to determine different aspects. According to the Figure 2, B and P are center of coordinate connected to fixed and mobile platform, respectively.…”

Section: Description Of Notation For 6-rusmentioning

confidence: 99%

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Mirshekari

Ghanbarzadeh

Shirazi

2016

Lat. Am. j. solids struct.

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The effects of distinctive parameters such as revolute joint angle or spherical joint location of mobile platform in a 6-DOF 6-RUS parallel manipulators on workspace, kinematic, and dynamic indices are investigated in this study to select proper structure commensurate with performance. Intelligent multi-objective optimization method is used to design the manipulator. Considering distinctive parameters, relevant relations for developing inverse kinematic and Jacobin matrix are obtained. In order to study dynamic properties, mass matrix is obtained from calculating the total kinetic energy of the manipulator. After modifying multi-objective Bees algorithm, it used to optimize the manipulator structure considering all geometrical parameters with proper constraints. In addition of comparison of three well known 6-RUS manipulators' types, variation diagram of workspace, local and global dynamics and kinematics performance indices have been drawn with respect to structural parameters variation and limitation of these parameters with proper value are determined. Moreover, considering all dimensional parameters, Pareto front line of multi objective optimization of structure is presented based on dynamic and kinematic performance in pre-determined workspace. Based on the results, a fairly comparison among various types of 6-RUS manipulators can be conducted and the most appropriate set of dimensional parameters are selected based on specific demand. are made of mobile platform which is connected to a fixed platform by several parallel arms. Parallel manipulators can be classified based on degree of freedom, number of arms, order of joints in each arm and type of actuator (Merlet, 2006). according to this, various 6-DOF parallel manipulators have been proposed. One of the most important 6-DOF parallel manipulators is 6-RUS manipulators that revolute joint, universal joint, and spherical joint are used in each arm, respectively.A 6-RUS manipulators has some advantages that the most important one, is low weight of movable parts because of installing motor in the fixed platform. Therefore, bigger and cheaper electrical motors can be used. In addition, thinner connecting rod can be used to the mobile platform that conclude reduction of collision of links to each other (Bonev, 2002). Moreover, these manipulators can be balanced statically (Gosselin and Wang, 2000). Although this type of manipulator has some disadvantages such as bending in connecting rods and complicated mechanical analysis. Also, because of great number of chains, connecting the fixed base with the moving platform, and movment limitations of passive joints, such as spherical and universal, workspace of the 6-RUS manipulators are restericted. To overcome such drawbacks, some researchers demonstrate the tendency for the use less than 6-degree-of-freedom parallel mechanisms (Chablat and Wenger, 2003;Gosselin et al., 2007;Clavel, 1991) and for 6-dof applications hybrid manipulators are studied (Caro et al., 2015).The first 6-RUS manipulator was proposed b...

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Section: Description Of Notation For 6-rusmentioning

confidence: 99%

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Mirshekari

Ghanbarzadeh

Shirazi

2016

Lat. Am. j. solids struct.

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“…Few of them have also applied this method to solve FKP of other parallel robot (Ghobakhlo et al, 2005), (Sadjadian et al, 2005). In this chapter, we focus on HEXA parallel robot, first presented by Pierrot (Pierrrot et al,1990), whose platform is coupled to the base by 6 RUS-limbs, where R stands for revolute joint, U stands for universal joint and S stands for spherical joint (see Fig. 2).…”

Section: Review Of Forward Kinematics Problem Of Parallel Robotmentioning

confidence: 99%

“…Complete description of HEXA robot is presented in Section 2. The solution of IKP of HEXA was first presented in (Pierrrot et al, 1990) by F. Pierrrot who solved the system of nonlinear equations and obtained a unique solution for the problem. A numerical solution for FKP of HEXA parallel robot was presented by J.P. Merlet in (Merlet, 2001).…”

Section: Review Of Forward Kinematics Problem Of Parallel Robotmentioning

confidence: 99%

Neural Network Solutions for Forward Kinematics Problem of HEXA Parallel Robot

Dehghani¹,

Eghtesad²,

Safavi³

et al. 2008

Parallel Manipulators, New Developments

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“…In addition, distinct arrangements of the joints and legs may lead to very simplified direct kinematics, higher stiffness, or higher resolution. Most examples of 6-DOF fully-parallel manipulators may be classified by the type of their six identical serial chains being RRPS, RRRS, or PRRS (Bonev, 1998;Briot et al, 2009;Carbonari et al, 2013;Isaksson et al, 2012;Liu et al, 2002;Merlet, 2000;Pierrot, 1990;Uchiyama, 1993;Zhang, 2010). In this representation, RR stands for a universal joint (U), sometimes PR stands for a cylindrical joint (C), P for a prismatic joint, R for a rotary joint, S for a spherical joint, and an underlined letter designates an actuated joint.…”

Section: Introductionmentioning

confidence: 99%

Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

Mohan

Corves

2017

Mech. Sci.

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Abstract. This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. The geometry parameters of the manipulator are optimized for a given constant orientation workspace. Further, a robust task-space trajectory tracking control is also designed for the manipulator along with a nonlinear disturbance observer. To demonstrate the efficacy and show the complete performance of the proposed controller, virtual prototype experiments are executed using one of the multibody dynamics software namely MSC Adams. The computer-based virtual prototype experiment results show that the manipulator tracking performance is satisfactory with the proposed control scheme. In addition, the controller parameter sensitivity and robustness analyses are also accomplished.

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A New Design of a 6-DOF Parallel Robot

Cited by 96 publications

References 0 publications

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Neural Network Solutions for Forward Kinematics Problem of HEXA Parallel Robot

Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

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