An Analytical Method for the Forward Kinematics Analysis of 6-SPS Parallel Mechanisms

Cheng, Shili

doi:10.3901/jme.2010.09.026

Cited by 13 publications

(5 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Concerning a parallel mechanism, the inverse kinematics problem is straightforward to solve based on geometric analysis. In contrast, the forward kinematics problem is more complicated to solve [32][33][34] . Although the analytical method can find all the possible solutions of the pose for the output platform, the solving processes are rather complicated for practical applications.…”

Section: Kinematic Modelling and Finite Element Analysis (Fea) Simulamentioning

confidence: 99%

Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

Wang

2021

Sci Rep

View full text Add to dashboard Cite

Wrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper presents the design and implementation of a soft parallel robot for automated wrist rehabilitation. The presented wrist rehabilitation robot integrates the advantages of both soft robot and parallel robot structures. Unlike traditional rigid-body based rehabilitation robots, this soft parallel robot exhibits a compact structure, which is highly secure, adaptable, and flexible and thus a low-cost solution for personalized treatment. The proposed soft wrist-rehabilitation robot is driven by six evenly distributed linear actuators using pneumatic artificial muscles and one central linear electric motor. The introduced parallel-kinematic mechanism design enables the enhancement of the output stiffness of the soft robot for practical use. An electromyography sensor is adopted to provide feedback signals for evaluating the rehabilitation training process. A kinematic model of the designed robot is derived, and a prototype is fabricated for experimental testing. The results demonstrate that the developed soft rehabilitation robot can assist the wrist to realize all the required training motions, including abduction-adduction, flexion-extension, and supination-pronation. The compact and lightweight structure of this novel robot makes it convenient to use, and suitable rehabilitation training modes can be chosen for tailored rehabilitation at home or in a hospital.

show abstract

Section: Kinematic Modelling and Finite Element Analysis (Fea) Simulamentioning

confidence: 99%

Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

Wang

2021

Sci Rep

View full text Add to dashboard Cite

show abstract

“…Now, Similar to (Cheng S. L., Wu H. T., Yao Y., et al, 2010) another six identities, which also contains only two unknowns 6  and 9  , can be formulated according to Eq. (31) ~ Eq.…”

Section: Close-form Solution 41 Process Of Eliminationmentioning

confidence: 99%

A new approach for the forward kinematics of nearly general Stewart platform with an extra sensor

Cheng

2017

JAMDSM

Self Cite

View full text Add to dashboard Cite

In this paper, a new approach for the forward kinematics of nearly general Stewart platform (i.e., both the fixed base and moving platform are restricted to planar platforms) with an extra sensor is presented. Fifteen compatible algebra equations which express the coupling relationships between the position and orientation variables of the moving platform are obtained. Because the magnitude of the position vector is measured by the extra sensor, the fifteen compatible algebra equations can be transformed into a set of linear algebraic equations with two unknown variables with the help of elimination by substitution, from which a unique solution can be obtained. In the end, a numerical example is presented to verify the correctness of the proposed approach. The proposed approach is simple and does not need any iteration, is expected to be used in real time applications.

show abstract

“…The rotation angle of each lower hinge of support rod is + when Where: α is the angle-bisect of the adjacent hinge on the moving platform; β is the angle-bisect of the theoretical initial position of the adjacent hinge on the stationary platform; is the angle of deviation from the theoretical position of under-hinge on i-th link [4]. The reverse solution of kinematics in the 6-SPS mechanism is unique [5]. The reverse solution of kinematics in the 6-RSPS mechanism is multi-solutions and more complex.…”

Section: Description Of 6-rsps Platform Mechanismmentioning

confidence: 99%

Direct Kinematics of 6-RSPS Driving Simulation Platform Based on FBGS Algorithm

Yang

2017

AMM

View full text Add to dashboard Cite

A new 6-RSPS simulator platform mechanism is proposed compared with the traditional 6-SPS mechanism. It is more verisimilar when simulating a vehicle’s turning because it can realize unlimited rotation around Z axis so as to avoid the washout algorithm in the direction of Z axis. The kinematics model is established by the rod length vector relationship. The BFS algorithm is applied to calculate the direct kinematics of 6-RSPS mechanism, and the precise direct kinematics solution can be obtained in the condition that the number of iterations decreases. Through the direct kinematics of 6-RSPS with the reverse kinematics solution to find that the rod length errors and the rotary angle errors are all controlled below 1.1 percent.

show abstract

An Analytical Method for the Forward Kinematics Analysis of 6-SPS Parallel Mechanisms

Cited by 13 publications

References 0 publications

Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

A new approach for the forward kinematics of nearly general Stewart platform with an extra sensor

Direct Kinematics of 6-RSPS Driving Simulation Platform Based on FBGS Algorithm

Contact Info

Product

Resources

About