A Systematic Approach for the Jacobian Analysis of Parallel Manipulators with Two End-Effectors

Hoevenaars, A.G.L.; Gosselin, Clément; Lambert, Patrice; Herder, Just L.

doi:10.1016/j.mechmachtheory.2016.10.022

Cited by 27 publications

(17 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Hoevenaars et al focused on the inverse kinematic analysis to established relationships and obtained an expression of differentiated Jacobian. They derived Complete Jacobian analysis using screw theory with some assumption like Terminal link, internal serial chain, End-effector serial chain, Virtual joint Connectivity [18].…”

Section: Parallel Manipulatormentioning

confidence: 99%

“…Figure1a) An instance of a traditional three-leeged PM and b) its representation in graph theory [18] Y. Zhao et al operate on the Jacobian PM matrix (parallel mechanisms) that usually differs with the poses of the movi ng workspace platform. They identify motion characteristic of proposed the constant Jacobian matrix and work on a continuous Jacobian matrix.…”

Section: Parallel Manipulatormentioning

confidence: 99%

See 1 more Smart Citation

An Application of Jacobian Matrix in Kinematic of Multi-loop Spatial Mechanism

2019

IJITEE

View full text Add to dashboard Cite

Mechanism is an intended to turn input motion into a required set of output motion and forces. Now a days the spatial mechanism is widely used in various industrial applications like parallel kinematic machines as a robot manipulator. The main aim of the review paper is to use the Jacobian matrix into the kinematic analysis. From the review papers analysis, it has been concluded that the Kinematic analysiswith help of Jacobian matrix performed various Multi-loop Spatial Mechanism settings for Kinematic geometry, its topology and to carried out displacement modelling. It also used to Kinematic Design, synthesis and optimization. Finally, Comparison of existing methods for Kinematic Singularities with Jacobian in Parallel Manipulator.

show abstract

Section: Parallel Manipulatormentioning

confidence: 99%

Section: Parallel Manipulatormentioning

confidence: 99%

An Application of Jacobian Matrix in Kinematic of Multi-loop Spatial Mechanism

2019

IJITEE

View full text Add to dashboard Cite

show abstract

“…Más todavía, gracias a los grados de libertad excedentes, el manipulador paralelo es capaz no sólo de ejecutar la tarea de salida original sino que también será capaz de eliminar o escapar de configuraciones singulares, incrementar el espacio de trabajo, mejorar la destreza y evasión de obstáculos, optimizar la transmisión de fuerza, entre otras limitaciones atribuidas a los manipuladores paralelos. Recientemente un concepto innovador designado como plataforma configurable se ha introducido en la ya exitosa trayectoria del estudio de los manipuladores paralelos con el objetivo de incrementar el potencial bien probado de los robots reconfigurables (Lambert and Herder, 2016;Hoevenaars et al, 2017;Kang and Dai, 2019;Gallardo-Alvarado and Tinajero-Campos, 2019). Con dicha plataforma configurable, además de las ventajas de generar manipuladores paralelos cinemáticamente redundantes (Yi et al, 2002;Mohamed and Gosselin, 2005) debido a la inclusión de grados adicionales de libertad acreditados a una cadena cinemática interna cerrada, esta nueva clase de robots admite la instalación de múltiples efectores finales (Hoevenaars et al, 2017) superando en creatividad y capacidad a los manipuladores convencionales equipados con plataformas rígidas.…”

Section: Introductionunclassified

Cinemática de un manipulador configurable por medio de la teoría de tornillos

Gallardo-Alvarado

Tinajero-Campos

Sánchez-Rodríguez

2020

Rev. iberoam. autom. inform. ind.

View full text Add to dashboard Cite

<p>En este trabajo se aborda el análisis cinemático de un m manipulador redundante con una plataforma configurable equipada con dos efectores finales. Las ecuaciones de clausura del análisis de posición generan un sistema de ecuaciones cuadráticas el cual se resuelve aplicando Newton-homotopía. Posteriormente, la cinemática instantánea del robot se resuelve recurriendo a la teoría de tornillos. La eficiencia del método es tal que no se requiere del cálculo de las velocidades articulares pasivas del robot para la determinación de la ecuación entrada-salida de velocidad del manipulador paralelo. Ejemplos numéricos se comparan con los resultados de un software comercial lo cual demuestra veracidad del método.</p>

show abstract

“…Despite the effervescent success of modern robotics and its positive impact on the industrial environment and in the society in general, the improvement of existing mathematical methods of analysis and the proposal of new topologies still being the inspiration for many kinematicians. In that concern, with the purpose to improve the dexterity and workspace of parallel manipulators, keeping their benefits like rigidity and precision, recently robot manipulators with multiple end-effectors and reconfigurable platforms have been introduced [1]. In this work the kinematics of a redundant planar manipulator with multiple end-effectors is investigated by means of the theory of screws.…”

Section: Introductionmentioning

confidence: 99%

A Five-Bar Planar Parallel Manipulator with Two End-Effectors

Gallardo-Alvarado¹,

Rodríguez-Castro²,

Pérez-González³

et al. 2018

Preprint

View full text Add to dashboard Cite

Parallel manipulators with multiple end-effectors bring us interesting advantages over conventional parallel manipulators such as improved manipulability, workspace and avoidance of singularities. In this work the kinematics of a five-bar planar parallel manipulator equipped with two end-effectors is approached by means of the theory of screws. As an intermediate step the displacement analysis of the robot is also investigated. The input-output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. In that regard the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) plays a central role. In order to exemplify the method of kinematic analysis, a case study is included. Furthermore, the numerical results obtained by means of the theory of screws are confirmed with the aid of special software like ADAMS.TM

show abstract

A Systematic Approach for the Jacobian Analysis of Parallel Manipulators with Two End-Effectors

Cited by 27 publications

References 24 publications

An Application of Jacobian Matrix in Kinematic of Multi-loop Spatial Mechanism

An Application of Jacobian Matrix in Kinematic of Multi-loop Spatial Mechanism

Cinemática de un manipulador configurable por medio de la teoría de tornillos

A Five-Bar Planar Parallel Manipulator with Two End-Effectors

Contact Info

Product

Resources

About