A successive approximation algorithm for the direct position analysis of parallel manipulators

Zhao, Xinhua; Peng, Shangxian

doi:10.1016/s0094-114x(99)00070-1

Cited by 10 publications

(7 citation statements)

References 26 publications

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“…where Li is the driving struts' vector 𝑨 𝒊 𝑩 𝒊 ⃗⃗⃗⃗⃗⃗⃗⃗⃗ shown in figure 1, and li is the strut length. At present, the forward kinematic solutions of parallel robots mainly include numerical methods [9,10]and analytical methods [11,12]. Numerical method is to give an initial value, and then cycle and iterate from this initial value until the solution meeting the given accuracy requirements is obtained.…”

Section: Kinematics Modelingmentioning

confidence: 99%

A Pose Resolution Analysis Method for a Stewart Parallel Robot

Liang¹,

Tan²,

Zhao³

et al. 2023

J. Phys.: Conf. Ser.

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In order to develop a high-resolution 6-DOF parallel robot, a method for analysing parallel robot’s position and orientation resolution is proposed, which is based on the same scale scaling and quantifying of struts increment. Firstly, calculating struts increment of the target position and orientation. Secondly, reducing struts increment in the same proportion. Thirdly, quantifying them with the resolution of the strut, and the minimum struts increment and struts length are obtained. Lastly, six single DOF minimum motion increments, namely pose resolution, are obtained after forward kinematic solution. The analysis software is compiled with VC++, and the 6-DOF Stewart parallel robot for the secondary mirror of a high-resolution space camera is designed. The measured results show that the analysis results of pose resolution are basically consistent with the measured values, and the analysis method has strong engineering guiding value.

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Section: Kinematics Modelingmentioning

confidence: 99%

A Pose Resolution Analysis Method for a Stewart Parallel Robot

Liang¹,

Tan²,

Zhao³

et al. 2023

J. Phys.: Conf. Ser.

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“…It is generally very complicated. This problem involves systems of highly non-linear Then there is next equation [5].…”

Section: Kinematics Analysismentioning

confidence: 99%

Kinematics Analysis and Simulation System Realization of Stewart Platform Manipulator

Ya-min

Wang²

2003

The Fourth International Conference on Control and Automation 2003 ICCA Final Program and Book of Abstracts ICCA-03

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Computer simulation technology plays the very important role in design and research of robots. This paper studies some key technology problems existing in kinematics simulation system of Stewart platform robot. The paper gives a practicable iterative method of direct kinematics solution. For realizing hidden surface removal, an algorithm is used to judge the distance between every component and view point, then adjusts the drawing sequence of components to hide the sheltered part. In order to judge whether there is interference between legs, we design a set of parallel planes to cut the legs, then analyzing the sections to judge the interference. Finally the developed robot simulation system is reliable, effectual and practicable. The software provides an important study means for Stewart platform robot's structure design and trajectory planning.

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“…A common method to track these solutions in path tracking is the Newton-Raphson algorithm [8]. Other iterative methods have also been developed specifically for use on parallel manipulator root-tracking [9]. These methods are efficient and useful in real-time path tracking, but always require an initial condition to operate.…”

Section: Introductionmentioning

confidence: 99%

Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators

Chung

Chen

2016

Mechanism and Machine Theory

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The Stewart-Gough platform (SGP) is a six degree-of-freedom (DOF) parallel manipulator whose reachable workspace is complex due to its closed-loop configuration and six DOF outputs. As such, methods of path planning that involve storing the entire reachable workspace in memory at high resolutions are not feasible due to this six-dimensional workspace. In addition, complete path planning algorithms struggle in higher dimensional applications without significant customisations. As a result, many workspace analysis algorithms and path planning schemes use iterative techniques, particularly when tracking the manipulator's many direct kinematic solutions. The aim of this paper is to present the viability of singularity-free path planning in the Stewart-Gough platform's 6-dimensional workspace on modern-day computing systems by demonstrating its assembly mode-changing capability. The entire workspace volume is found using flood-fill algorithms with smooth and singularity-free trajectories generated within this known workspace. Workspace volume analysis was also performed with results comparable to other works.

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A successive approximation algorithm for the direct position analysis of parallel manipulators

Cited by 10 publications

References 26 publications

A Pose Resolution Analysis Method for a Stewart Parallel Robot

A Pose Resolution Analysis Method for a Stewart Parallel Robot

Kinematics Analysis and Simulation System Realization of Stewart Platform Manipulator

Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators

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