An optimally re-configurable planar Gough–Stewart machining platform

Plessis, L. J. du; Snyman, J. A.

doi:10.1016/j.mechmachtheory.2005.05.007

Cited by 26 publications

(14 citation statements)

References 7 publications

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“…Moreover, the presented analyses in this paper can be extended to dodecapod-parallel robots with on-line adaptable basis joint positions. It is noted that the symbol "b" in D 1 and h i denotes a skew-symmetric matrix formed from the matrix-vector product. The skew-symmetric matrix is like the form in Equation (5).…”

Section: Discussionmentioning

confidence: 99%

“…Moreover, a parallel robot possessing an adjustable architecture can achieve a relatively larger workspace, and avoid singularities and interference among the system components along a prescribed trajectory. For now, two main approaches have been proposed for the reconfiguration of the parallel robot, one is based on a modular design, and the other is via a variable geometry methodology [1]. A modular reconfigurable parallel robot can be made through the integration of a set of adjustable joint modules and link modules, such that the parallel robot can generate various configurations by changing the number and types of the modules [2].…”

Section: Introductionmentioning

confidence: 99%

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Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Lin

Chen

2016

Applied Sciences

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Abstract:In this paper, a Stewart-platform robot with sliding lockable base joints is proposed for reconfiguration, and it addresses the determination of the optimal configuration for the prescribed motion with maximum allowable dynamic wrench capability subject to the constraints imposed by the kinematics and dynamics of the proposed reconfigurable architecture. The numerical results from the hierarchical optimization process allow us to investigate the effects of the base point locations on the maximum dynamic wrench capability. The effectiveness of the proposed algorithm is demonstrated in the improvement of the maximum allowable dynamic wrench capability of the reconfigurable Stewart-platform robot.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Lin

Chen

2016

Applied Sciences

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“…x y z , is attached to the moving platform with its origin located at the platform ¶s geometric center B, whose position vector with respect to the N-frame is denoted as p. In addition, the position vector of i2 A with respect to the N-frame is represented as Using our developed structured Boltzmann-Hameld ¶Alembert formulism for a parallel kinematc mechanism [13,14], the dynamics of the PKM in a parameter-linear form is given as 1 2…”

Section: Fig 1 Geometric Structure Of a Motor-driven Reconfigurablementioning

confidence: 99%

“…The two main approaches that have been proposed for the reconfiguration of the PKM are based on a modular design and a variable geometry design [1]. A modular reconfigurable PKM can be rapidly constructed through the integration of a set of adjustable joint modules and link modules, such that the PKM can generate various configurations by changing the number and types of the modules.…”

Section: Introductionmentioning

confidence: 99%

Optimal Configuration of a Parallel Kinematic Manipulator for the Maximum Dynamic Load-Carrying Capacity

Chen¹,

Zeng

2011

2011 First International Conference on Robot, Vision and Signal Processing

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Abstract²In determining the maximum dynamic loadcarrying capacity (DLCC) of reconfigurable motor-driven parallel kinematic manipulators (PKM), the objective is to identify the optimal configuration which accomplishes the assigned motion for the maximum DLCC subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. In this study, the maximum DLCC problem of a reconfigurable PKM is formulated using the structured Boltzmann-Hamel-d ¶Alembert formulism, and then the optimal reconfiguration is obtained using a two-loop of optimization process, in which the particle swarm optimization (PSO) algorithm is for the outer-loop optimization and the linear programming (LP) method is for the inner-loop optimization, such that the reconfiguration is achieved by relocating the base points along linear guideways. The numerical results present the effects of the base locations on the DLCC and the corresponding kinematics and dynamics along the prescribed trajectory.Keywords-Reconfigurable; parallel kinematic manipulator; dynamic load-carrying capacity; Boltzmann-Hamel-d ¶Alembert; particle swarm optimization.

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“…The main approaches that have been proposed for the reconfiguration of parallel mechanisms, such as the Stewart-Gough platform, are modular and variable geometric designs [2,3,29].…”

Section: Introductionmentioning

confidence: 99%

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Balmaceda-Santamaría

Castillo-Castañeda

Gallardo-Alvarado

2016

International Journal of Advanced Robotic Systems

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This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.

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An optimally re-configurable planar Gough–Stewart machining platform

Cited by 26 publications

References 7 publications

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Optimal Configuration of a Parallel Kinematic Manipulator for the Maximum Dynamic Load-Carrying Capacity

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

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