Analysis and Optimum Kinematic Design of a Parallel Robot

Hamdoun, Ouafae; Bakkali, Larbi El; Baghli, Fatima Zahra

doi:10.1016/j.proeng.2017.02.374

Cited by 22 publications

(9 citation statements)

References 7 publications

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“…14 The Jacobian matrix of the robot is a linear transformation matrix of the joint space velocity mapping to the operational space velocity and can be seen as the transmission ratio from the joint velocity to the operational velocity. 15 Solving the Jacobian matrix method was widely used for convenience of a vector product method and differential method, 16 the difference is that a vector product method of operating space velocity is relative to the base coordinate absolute speed, 17 differential change law of operating space velocity is relative to the operating space of the relative velocity, 18 this paper using the vector product method to resolve the Jacobian matrix.…”

Section: Analysis Of Minimum Demand Velocity and Torque For Each Jointmentioning

confidence: 99%

Dynamic simulation analysis and experimental verification of transmission tower climbing robot

Wei

Zhang

Yuan

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In order to replace the climbing work of the first climbers of the transmission tower without safety ropes, a transmission tower climbing robot is designed in this paper. First of all, this paper designs the structure of the robot by imitating the silkworm crawling on the branches through the principle of bionics. On this basis, through the inverse kinetics solution method, under the premise of planning the gait of the robot first, the dynamic simulation analysis of the robot is carried out according to the gait, so as to obtain the torque required for each joint motion. At the same time, according to the simulation results, the experimental test of the robot is carried out. Experiments have shown that the robot can climb to the top of a 50 m high transmission tower in 70 min with a load of 10 kg. The research results show that the transmission tower robot can replace the manual climbing operation of the transmission tower, and the mechanization and intelligence of the high-altitude operation of the transmission tower is highly feasible.

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Section: Analysis Of Minimum Demand Velocity and Torque For Each Jointmentioning

confidence: 99%

Dynamic simulation analysis and experimental verification of transmission tower climbing robot

Wei

Zhang

Yuan

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…To provide data for the training of a neural network, it is necessary to model the movements of robots or mechanisms to generate mathematical models through which it is possible to formulate inverse and direct kinematic problems. Traditionally these models are built using only one analysis configuration [27,28,29,30,31], limiting the motion relationships between the links that make up a robot. It is necessary to propose new modeling methods that consider two analysis configurations to systematize the rotations or translations that the actuators will perform and generate the mathematical models to raise and solve the kinematic problems associated with robots.…”

Section: Introductionmentioning

confidence: 99%

Modeling in Two Configurations of a 5R 2-DoF Planar Parallel Mechanism and Solution to the Inverse Kinematic Modeling Using Artificial Neural Network

López

Mora-Pulido

et al. 2021

IEEE Access

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This article introduces a new kinematic modeling method used to analyze coupled rigid multibody movements. The method was applied to the study of a 5R planar parallel mechanism's kinematics and consists of analyzing two fixed configurations of the mechanism to systematize the rotational relationships between the two structures. Mathematical models were developed using complex numbers. The inverse kinematic problem was modeled as a system of eight nonlinear equations and eight unknowns, which was solved with Newton-Raphson's method. Subsequently, with the inverse problem model, a numerical database related to the mechanism configurations, including singular positions, was generated to train a multilayer neural network. The Levenberg-Marquardt algorithm was used for network training. Finally, an interpolated linear path was used to understand the efficiency of the trained network.

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“…Dexterous movement of robotic manipulators has received significant attention from researchers to enhance the reachable workspace, which can significantly improve industrial automation applications [1] . Robotic manipulators can be constructed using different architectures, i.e., serial, parallel, or hybrid manipulators.…”

Section: Introductionmentioning

confidence: 99%

Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller

Al-Mayyahi

Aldair

Chatwin

2020

Int. J. Autom. Comput.

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3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications. Thus, robust and stable control is required to deliver high accuracy in comparison to the state of the art. The operation of the mechanism is achieved based on three revolute (3-RRR) joints which are geometrically designed using an open-loop spatial robotic platform. The inverse kinematic model of the system is derived and analyzed by using the geometric structure with three revolute joints. The main variables in our design are the platform base positions, the geometry of the joint angles, and links of the 3-RRR planar parallel robot. These variables are calculated based on Cayley-Menger determinants and bilateration to determine the final position of the platform when moving and placing objects. Additionally, a proposed fractional order proportional integral derivative (FOPID) is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot. The design is compared with the state of the art and simulated using the Matlab environment to validate the effectiveness of the proposed controller. Furthermore, real-time implementation has been tested to prove that the design performance is practical.

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Analysis and Optimum Kinematic Design of a Parallel Robot

Cited by 22 publications

References 7 publications

Dynamic simulation analysis and experimental verification of transmission tower climbing robot

Dynamic simulation analysis and experimental verification of transmission tower climbing robot

Modeling in Two Configurations of a 5R 2-DoF Planar Parallel Mechanism and Solution to the Inverse Kinematic Modeling Using Artificial Neural Network

Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller

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