Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph

Amine, Semaan; Mokhiamar, Ossama; Caro, Stéphane

doi:10.1115/1.4035188

Cited by 15 publications

(13 citation statements)

References 29 publications

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“…I 1 and I 2 correspond to x 1 = 0 implying u = b a from Eqn. (5). Furthermore, for I 1 , eliminating u from 2x 2 − lx 4 = 0 gives…”

Section: Operation Modesmentioning

confidence: 99%

“…Moreover, compliant mechanisms usually work around a given position for small range of motions and hence they can be designed by considering existing parallel manipulators in parallel singular configurations. Parallel singularity can be an actuation singularity, constraint singularity or a compound singularity as explained in [5][6][7]. Rubbert et al used an actuation singularity to type-synthesize a compliant medical device [8,9].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Reconfigurable Compliant Four-Bar Mechanism With Multiple Operation Modes

Nayak¹,

Hao

et al. 2017

Volume 5A: 41st Mechanisms and Robotics Conference

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Although reconfigurable rigid-body mechanisms have been extensively studied over two decades, their compliant counterparts have not received the similar attention yet. This paper aims to design a reconfigurable compliant four-bar mechanism with multiple operation modes. A planar equilateral four-bar mechanism is considered at its constraint singularity. The multiple operation modes of this linkage are kinematically exploited to design a reconfigurable compliant four-bar mechanism, which generates rotational or translational motions based on two actuated joints. Simulation is conducted to investigate the comprehensive kinematics of the reconfigurable compliant mechanism. A 3D printed prototype of the novel reconfigurable compliant mechanism at hand is presented.

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“…I 1 and I 2 correspond to x 1 = 0 implying u = b a from Eqn. (5). Furthermore, for I 1 , eliminating u from 2x 2 − lx 4 = 0 gives…”

Section: Operation Modesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Reconfigurable Compliant Four-Bar Mechanism With Multiple Operation Modes

Nayak¹,

Hao

et al. 2017

Volume 5A: 41st Mechanisms and Robotics Conference

Self Cite

View full text Add to dashboard Cite

show abstract

“…then, the 3-RPS parallel manipulator with coplanar revolute joint axes has two operation modes characterized by Eqs. (18) or (20). To derive these characteristic polynomials starting from the plane constraints, the scalar coefficients of their linear combination must follow the ratio onto the XY -plane as shown in Fig.…”

Section: Operation Modesmentioning

confidence: 99%

“…Equations (18) and (20) are the polynomials characterizing the two operation modes. The transition between them is when both polynomials vanish at the same time, i.e., when x 0 = x 3 = 0 for Solution 1 and when x 1 = x 2 = 0 for Solution 2.…”

Section: Operation Modesmentioning

confidence: 99%

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Operation mode analysis of 3-RPS parallel manipulators based on their design parameters

Nayak

Stigger

Husty

et al. 2018

Computer Aided Geometric Design

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It is known that a 3-RPS parallel manipulator with an equilateral triangle base and an equilateral triangle platform has two operation modes [1] whereas a 3-RPS cube manipulator with a cube shaped base and an equilateral triangle platform has only one operation mode [2]. This behavior is indeed a result of the difference in the architectures of these manipulators. Therefore, this paper deals with the operation mode analysis of 3-RPS parallel manipulators based on their design parameters. Study's kinematic mapping is exploited to derive the constraint equations of the manipulators under study. A linear combination of the constraint equations independent of the joint variables is compared with a general quadric in the 7-dimensional projective space P 7 to obtain some relations between the design parameters of 3-RPS manipulators with coplanar revolute joints, such that those manipulators have two operation modes. Some special cases and a numerical example are considered to emphasize the proposed approach and highlight the contributions of the paper.

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Local and Full-Cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator

Nayak

Caro

Wenger

2017

Computational Kinematics

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This paper aims to shed light on the determination of the true mobility for a 3-RPS-3-SPR series-parallel manipulator, which was claimed to be six in [6] without any proof, and shown to be five in [4] and [3] with an erroneous proof. Screw theory is used to derive the kinematic Jacobian matrix and the twist system of the mechanism, leading to the determination of its local mobility. I turns out that this local mobility is found to be six in several arbitrary configurations, which indicates a full-cycle mobility equal to six. This full-cycle mobility is confirmed by calculating the Hilbert dimension of the ideal made up of the set of constraint equations. It is also shown that the mobility drops to five in some particular configurations, referred to as impossible output singularities.

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Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph

Cited by 15 publications

References 29 publications

A Reconfigurable Compliant Four-Bar Mechanism With Multiple Operation Modes

A Reconfigurable Compliant Four-Bar Mechanism With Multiple Operation Modes

Operation mode analysis of 3-RPS parallel manipulators based on their design parameters

Local and Full-Cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator

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