Algebraic analysis of overconstrained single loop four link mechanisms with revolute and prismatic joints

Pfurner, Martin; Stigger, Thomas; Husty, Manfred L.

doi:10.1016/j.mechmachtheory.2017.03.014

Cited by 12 publications

(4 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In 1983 [1], the 3-RPS parallel manipulator with equilateral base and platform was introduced by Hunt. Schadlbauer et al in [2] used algebraic approaches explained in [3,4,5], to enumerate sixteen solutions for the direct kinematics of this manipulator. The axode presented in [6] was employed by Schadlbauer et al in [7] to characterize two operation modes belonging to the 3-RPS parallel manipulator.…”

Section: Introductionmentioning

confidence: 99%

A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

Nurahmi

Caro

Solichin

2019

Mechanism and Machine Theory

View full text Add to dashboard Cite

This paper deals with the constraint-based design, optimum design and reconfiguration strategy of a 3-RPS parallel manipulator. Some design conditions related to the base and moving-platform design parameters and the three degree of-freedom operation modes are derived. A 3-RPS parallel manipulator with two types of operation modes is generated by following those conditions. Due to its potential advantages, this manipulator is used as an ankle rehabilitation device which can cover the ankle joint motion. To derive the optimum parameters, kinematic optimization is conducted by initially parametrizing the orientation workspace and it turns out that its orientation workspace is not symmetrical. The singularity loci are traced in its orientation workspace. A performance index, named Maximum Inscribed Circle Diameter (MICD) is presented to assess the maximum tilt of the moving-platform for any azimuth angle. The distributions of MICD are plotted in the design space for different moving-platform heights. The optimum region with regard to MICD is obtained. It is noteworthy that the evolution of MICD as a function of movingplatform height in both operation modes is the opposite. Therefore, a reconfiguration strategy is proposed to ensure the moving-platform working above the minimum required orientation for any moving-platform height.

show abstract

Section: Introductionmentioning

confidence: 99%

A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

Nurahmi

Caro

Solichin

2019

Mechanism and Machine Theory

View full text Add to dashboard Cite

show abstract

“…In fact, there exist only three algebraic IO equations in the literature, described in [7,8,9]. They describe the IO relations of the planar quadrilateral linkage, and the Bennett linkage.…”

Section: Background and Research Problemmentioning

confidence: 99%

“…The IO equation is well known, for example [4,9,65,66,67] show different deriva- The product of the tangent half-angle of the input and the output angle is constant.…”

Section: Bennett Linkagementioning

confidence: 99%

“…We begin with a serial RSSR kinematic chain and determine the forward kine- To close the kinematic chain, we want the first and last coordinate systems to align in both their orientation and position. Algebraically, this is again specified using the kinematic closure equation, where the overall transformation equates to the identity [93] A very efficient and elegant algebraic geometry approach, which, for example, has already been successfully applied in [9], is to split the closure equation in two by multiplying both sides by the inverses of half of the DH transformations. In the case of the RSSR, the closure equation becomes…”

Section: Rssr Linkagementioning

confidence: 99%

See 1 more Smart Citation

Algebraic Input-Output Equations of Four-Bar Kinematic Chains: Planar; Spherical; Spatial

Rotzoll¹

View full text Add to dashboard Cite

John D. Hayes. Without the many weekly discussions, his patience to answer all the questions I had, and his encouragement and support, this thesis would not have been accomplished. I am grateful for the countless hours that he meticulously edited my publications and provided me with valuable feedback. His dedication to research and his students has been a true inspiration. He has made my experience as a student at Carleton University unforgettable. Thank you, John. I am also grateful to my co-examiner Hans-Peter Schröcker as well as my committee members Howard Schwartz, Natalie Baddour, Rishad Irani and Robert G. Langlois who provided me with feedback and guidance on my thesis. In addition, I acknowledge the generous financial support from the Natural Sciences and Engineering Research Council of Canada and Carleton University. In January 2019, I went to the University of Innsbruck for 4 months to study with Manfred L. Husty and his research group. It has been a productive and extraordinary experience, and many of the results found in this thesis would not have been possible without the help and ideas of Manfred.In this regard, I also acknowledge the financial support of this project and my stay in Austria from Mitacs Globalink. Moreover, I wish to express special thanks to Martin Pfurner, who always answered my questions and was able to translate complex v I would also like to thank Zachary A. Copeland, Alia Nichol and Quinn Bucciol for the many questions and discussions we had which helped me find answers to some of the gaps in my research.Finally, I would be remiss in not mentioning my family, especially my husband, my parents, and siblings for their moral support, constant encouragement, and the strength they gave me to complete this thesis. vi

show abstract

A New Family of Overconstrained P5R-Mechanisms

2022

Advances in Robot Kinematics 2022

View full text Add to dashboard Cite

Algebraic analysis of overconstrained single loop four link mechanisms with revolute and prismatic joints

Cited by 12 publications

References 14 publications

A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

Algebraic Input-Output Equations of Four-Bar Kinematic Chains: Planar; Spherical; Spatial

A New Family of Overconstrained P5R-Mechanisms

Contact Info

Product

Resources

About