Comparison of Hybrid and Parallel Architectures for Two-Degrees-of-Freedom Planar Robot Legs

Sagi, Aditya; Bandyopadhyay, Sandipan

doi:10.1007/978-981-10-8597-0_8

Cited by 3 publications

(2 citation statements)

References 7 publications

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“…Computations of these variables lead to the derivation of a 16-degree univariate polynomial equation. 23 The method of getting these unknown variables can be seen in Sagi and Bandyopadhyay 18 . After calculation of θ 3 i , the coordinates of points S 1 , S 2 , and S 3 can be obtained to find the position and orientation of moving platform.…”

Section: Kinematic Modelmentioning

confidence: 99%

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Singularity analysis and dexterity performance on a novel parallel mechanism with kinematic redundancy

Zhao

Guo

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

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This article presents a novel spatial parallel mechanism with kinematic redundancy. The design strategy and evolution of the proposed mechanism is introduced, and kinematic model of the mechanism is established. To simplify singularity analysis of this kind of mechanism, the virtual plane method which can separate the whole parallel mechanism into two parts is presented. The relative Jacobian matrices are established and illustrated with singularity configurations of three types. Kinematic performance is obtained to see redundancy effects on the mechanism. The orientational workspace is obtained by the regions of orientational angles with varied platform position. It shows the orientational workspace of the redundant mechanism is significantly larger. Evaluation of condition number demonstrates the proposed mechanism can clearly stay away from singularities with a large range of rotational angles. A trajectory example is conducted to further prove the proposed mechanism can produce a large range of rotational angles without meeting with singularities.

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Section: Kinematic Modelmentioning

confidence: 99%

“…Other considerations such as actuators are located at fixed platform should be design guidance. Sagi and Bandyopadhyay 18 present a comparison between a hybrid and a parallel architecture. The actuator arrangement based on the architecture design is very important to produce a distinction of performance.…”

Section: Introductionmentioning

confidence: 99%

Singularity analysis and dexterity performance on a novel parallel mechanism with kinematic redundancy

Zhao

Guo

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

Design and Motion Guidelines for Quadrupedal Locomotion of Maximum Speed or Efficiency with Serial and Parallel Legs

Machairas,

Papadopoulos

2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A direct-drive five-bar manipulator with tuned directional first-order kinematics for low energy consumption in vertical loading

Ramesh,

Plecnik

2024

The International Journal of Robotics Research

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The kinematic configuration space of a manipulator determines the set of all possible motions that may occur, and its differential properties have a strong, albeit indirect, influence on both static and dynamic performance. By viewing first-order kinematics as a field of Jacobian-defined ellipses across a workspace, a novel two degree-of-freedom manipulator was designed, and is tested in this paper for its benefits. The manipulator exhibits a field of ellipses that biases transmission characteristics in Cartesian directions of the end-effector. The horizontal direction is biased toward speed in order to move across the width of the workspace quickly, while the vertical direction is biased toward force production in order to resist gravitational loads. The latter bias endows the manipulator with load capacity in the absence of gears. Such an exclusion can forego the extra weight, complexity, backlash, transmission losses, and fragility of gearboxes. Additionally, a direct drive set-up improves backdrivability and transparency. The latter is relevant to applications that involve interacting with the environment or people. Our novel design is set through an array of theoretical and experimental performance studies in comparison to a conventional direct drive manipulator. The experimental results showed a 3.75× increase in payload capacity, a 2× increase in dynamic tracking accuracy, a 2.07× increase in dynamic cycling frequency, and at least a 3.70× reduction in power consumption, considering both static and dynamic experiments.

show abstract

Comparison of Hybrid and Parallel Architectures for Two-Degrees-of-Freedom Planar Robot Legs

Cited by 3 publications

References 7 publications

Singularity analysis and dexterity performance on a novel parallel mechanism with kinematic redundancy

Singularity analysis and dexterity performance on a novel parallel mechanism with kinematic redundancy

Design and Motion Guidelines for Quadrupedal Locomotion of Maximum Speed or Efficiency with Serial and Parallel Legs

A direct-drive five-bar manipulator with tuned directional first-order kinematics for low energy consumption in vertical loading

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