Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity

Nayak, Abhilash; Caro, Stéphane; Wenger, Philippe

doi:10.1016/j.mechmachtheory.2018.08.001

Cited by 22 publications

(6 citation statements)

References 30 publications

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“…Similar to 3-[PP]S mechanisms [34], the adsorption manipulator also has parasitic motion in addition to the desired motion. The parasitic motion of the adsorption manipulator is (x 1 , y 1 , σ 1 ) and the desired motion is (φ 1 , θ 1 , z 1 ).…”

Section: Kinematic Modeling Of the Adsorption Manipulatormentioning

confidence: 99%

Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing

Chen

Xie

Liu

et al. 2021

Journal of Mechanisms and Robotics

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Efficient and economical processing of large-scale structural parts is in increasing need and is also a challenging issue. In this paper, an adsorption machining robot for processing of large-scale structural parts is presented. It has potential advantages in flexible, efficient and economical processing of large-scale structural parts because of the adsorption ability. Stiffness is one of the most important performance for machining robots. In order to investigate the stiffness of the robot in the workspace, the kinematics of the adsorption manipulator, the five-axis machining manipulator and the adsorption machining robot is derived step by step. Then with the help of Finite Element Analysis (FEA), a stiffness modeling method considering the compliance of the base is proposed. A stiffness isotropy index is put forward to evaluate the robot's overall stiffness performance by taking all possible working conditions into consideration. Based on the index, stiffness evaluation in the reachable workspace is carried out and an optimized workspace is identified considering the overall stiffness magnitude, stiffness isotropy and workspace volume, which will be used in the machining process. The stiffness modeling method and stiffness isotropy index proposed in the paper are universal and can be applied to other parallel robots.

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Section: Kinematic Modeling Of the Adsorption Manipulatormentioning

confidence: 99%

Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing

Chen

Xie

Liu

et al. 2021

Journal of Mechanisms and Robotics

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“…A zero-torsion mechanism is a mechanism where the ending platform never rotates about its normal axis [24]. To express the zero-torsion rotation matrix, we can start from the Tilt&Torsion angles notation, defined in [23], and set the torsion to zero.…”

Section: Zero-torsion Mechanismmentioning

confidence: 99%

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

Ginnante¹,

Leborne²,

Caro

et al. 2021

Volume 8A: 45th Mechanisms and Robotics Conference (MR)

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The essential characteristics of machining robots are their stiffness and their accuracy. For machining tasks, serial robots have many advantages such as large workspace to footprint ratio, but they often lack the stiffness required for accurately milling hard materials. One way to increase the stiffness of serial manipulators is to make their joints using closed-loop or parallel mechanisms instead of using classical prismatic and revolute joints. This increases the accuracy of a manipulator without reducing its workspace. This paper introduces an innovative two degrees of freedom closed-loop mechanism and shows how it can be used to build serial robots featuring both high stiffness and large workspace. The design of this mechanism is described through its geometric and kinematic models. Then, the kinematic performance of the mechanism is analyzed, and a serial arrangement of several such mechanisms is proposed to obtain a potential design of a machining robot.

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“…For a revolute joint, its axis of rotation is considered whereas for a prismatic joint, its direction. Five possible joint-constraint types between the neighboring joint axes/directions are reported in [39]:…”

Section: Complexity Evaluation Of Steel Arch Splicing Manipulatormentioning

confidence: 99%

Research on a ø6m TBM Steel Arch Splicing Manipulator

He¹,

Xia²,

Xu³

et al. 2021

Preprint

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As a challenging task, the robotic splicing of steel arch is required to realize the grasping and docking of steel arches in a limited space. The steel arches often have a mass of over 200kg and a length of over 4m. Due to the large volume and mass of steel arches and the high requirements for the positioning accuracy of splicing, it is difficult for the general manipulator to meet its flexibility and stiffness requirements. The single-degree-of-freedom(DOF) closed-loop mechanism has a simple and reliable structure. Adding it into the manipulator can effectively improve the dynamic performance and increase the structural stiffness. In this paper, a solution model of a single-DOF closed-loop planar mechanism is presented, and alternative kinematic pairs of the mechanism with different input constraints and output requirements are derived. Based on this model, a design method of steel arch splicing manipulator with single-DOF closed-loop grasping structure is proposed. All the optional basic configurations of the manipulator are deduced, and then the optimal configuration is obtained by using the performance indexes. A prototype of the steel arch splicing manipulator is manufactured, and the reliability of the manipulator is proved by experiments.

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Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity

Cited by 22 publications

References 30 publications

Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing

Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

Research on a ø6m TBM Steel Arch Splicing Manipulator

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Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity

Cited by 22 publications

References 30 publications

Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing

Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

Research on a&nbsp;ø6m TBM&nbsp;Steel Arch Splicing Manipulator

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Product

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Research on a ø6m TBM Steel Arch Splicing Manipulator