An experimental study on motion error of hexarot parallel manipulator

Qazani, Mohammad Reza Chalak; Pedrammehr, Siamak; Rahmani, Arash; Shahryari, Mehran; Rajab, Aslan Khani Sheykh; Ettefagh, Mir Mohammad

doi:10.1007/s00170-014-5685-y

Cited by 32 publications

(10 citation statements)

References 23 publications

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“…For this purpose, by substituting d i1 , d i2 and d i3 into left side of Eq. (6), then using it to defining the function f i (x n ) by (23); then there will defined six equations for i = 1, 2, …, 6. Each of the equations has six unknown variables that are [ x y z θ 1 θ 2 θ 3 ] T and for each equation ɛ i is the error for coordination of the ith joint.…”

Section: Forward Kinematicsmentioning

confidence: 99%

“…(23) In order to solve the system of six nonlinear equations (23) For the forward kinematics of the velocity, taking the product of the two sides of Eq. (10) with (a 1 × n 1 ) ·Ẑ J, gives:…”

Section: Forward Kinematicsmentioning

confidence: 99%

“…Chalak Qazani et al [21] developed an algorithm for the motion of a machine tool table that is based on Stewart-platform using freeform surfaces with circular interpolation. They also investigated the workspace of a Hexarot manipulator in [22], and performed an experimental study for the error analysis of a specific Hexarot manipulator in [23] using image processing and experimental tests. Shaw and Chen [24] investigated an algorithm for path-planning of a parallel machine for a cutting process.…”

Section: Introductionmentioning

confidence: 99%

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Mathematical modelling of linear motion error for Hexarot parallel manipulators

Pedrammehr

Qazani

Asayesh

et al. 2016

Applied Mathematical Modelling

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a b s t r a c tHexarot is a robotic manipulator that belongs to the family of axis symmetric parallel mechanisms. The robot is able to move the robot platform or tool center point in six degrees of freedom (DOF). This paper presents the kinematics model of the robot including the inverse and forward kinematics, and its time derivatives. Then using the kinematics formulations, investigation of the nonlinear motion of the Hexarot robot for a desired linear motion path is performed. For this purpose, the concept of curvature of the robot path is used for measuring the nonlinearity of the actual motion of the robot. The nonlinear motion error of the robot is analyzed for the scenario where the platform moves on a linear path between two arbitrary points of the robot workspace. The effects of different parameters on the nonlinear motion error of the mechanism are demonstrated and strategies for motions with low error values are proposed.

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Section: Forward Kinematicsmentioning

confidence: 99%

Section: Forward Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Mathematical modelling of linear motion error for Hexarot parallel manipulators

Pedrammehr

Qazani

Asayesh

et al. 2016

Applied Mathematical Modelling

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“…In this section, the inverse and forward kinematics problems of proposed mechanism are described in closed form. The proposed kinematics model (vectorial kinematic analysis) using in this paper has some advantages compared to other methods: a) This method provides a geometric description of rigid motion which greatly simplifies the analysis of mechanism [21]. So, it is easily generalized to kinematic analysis for most hybrid parallel-parallel, parallel-serial and serial-serial manipulators.…”

Section: Forward and Inverse Kinematics Solutionmentioning

confidence: 99%

Kinematics Analysis and Numerical Simulation of Hybrid Serial-Parallel Manipulator Based on Neural Network

Rahmani¹,

Gholami²,

Mahboubkhah³

2015

NNW

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This paper presents solution of kinematics analysis of a specific class of serial-parallel manipulators, known as 2-(6UPS) manipulators, which are composed of several modules consisting of elementary manipulators with the parallel structure of the Stewart platform, by artificial neural network. At first, the kinematics model of the hybrid manipulator is obtained. Then, as the inverse kinematics problem of this kind of manipulators is a very difficult problem to solve because of their highly nonlinear relations between joint variables and position and orientation of the end effectors, a wavelet based neural network (wave-net) with its inherent learning ability as a strong method was used to solve the inverse kinematics problem. Also, the proposed wavelet neural network (WNN) is applied to approximate the paths of middle and upper plate in a circular and a spiral path, respectively. The results show high accurate performance of the proposed WNN.

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“…Karimi [8] developed an adaptive NURBS interpolator, in which the nonlinear error at each interpolation step is approximated by median circle and compensated by feed rate modulation. In a similar attempt, Chalak et al [17,18] introduced a linear interpolation of circular path for a hexapod mechanism, which adopts the median circle for approximating nonlinear error and compensates it by reducing the end effector feed rate. Moreover, Pedrammehr et al [19] investigated the modeling of linear motion error of a 6-DOF hexarot parallel mechanism by the mentioned median circle.…”

Section: Introductionmentioning

confidence: 99%

Linear motion analysis for a novel 4-DOF parallel kinematic machine

Akhbari

Mahboubkhah

Gadimzadeh

2019

J Braz. Soc. Mech. Sci. Eng.

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Motion accuracy is significantly influenced by nonlinear behavior of parallel mechanisms. In this paper, an interpolation algorithm suitable for linear motions of a novel 4-DOF parallel kinematic machine is developed. In this interpolation scheme, velocity and orientation deviations are realized along with path nonlinearity of mechanism. Simulations showed that this algorithm has the capability of sustaining the kinematical constraints and maintaining the nonlinear error below the specified tolerances. Furthermore, to evaluate the linear motion capability of presented 4-DOF parallel mechanism, two digital data loggers recorded the nonlinear error during motion of end effector with pre-defined paths having various lengths and locations in workspace. Results indicated that the developed algorithm based on reducing the kinematic nonlinearity produces more accurate motions.

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An experimental study on motion error of hexarot parallel manipulator

Cited by 32 publications

References 23 publications

Mathematical modelling of linear motion error for Hexarot parallel manipulators

Mathematical modelling of linear motion error for Hexarot parallel manipulators

Kinematics Analysis and Numerical Simulation of Hybrid Serial-Parallel Manipulator Based on Neural Network

Linear motion analysis for a novel 4-DOF parallel kinematic machine

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