Conceptual Design of Schoenflies Motion Generators Based on the Wrench Graph

Amine, Semaan; Nurahmi, Latifah; Wenger, Philippe; Caro, Stéphane

doi:10.1115/detc2013-13084

Cited by 5 publications

(4 citation statements)

References 22 publications

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“…The two factors correspond to two types of parallel singularities, namely constraint and actuation singularities [33,34]. These singularities will be further investigated hereafter.…”

Section: Singularity Analysismentioning

confidence: 99%

A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

Nurahmi

Caro

Solichin

2019

Mechanism and Machine Theory

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This paper deals with the constraint-based design, optimum design and reconfiguration strategy of a 3-RPS parallel manipulator. Some design conditions related to the base and moving-platform design parameters and the three degree of-freedom operation modes are derived. A 3-RPS parallel manipulator with two types of operation modes is generated by following those conditions. Due to its potential advantages, this manipulator is used as an ankle rehabilitation device which can cover the ankle joint motion. To derive the optimum parameters, kinematic optimization is conducted by initially parametrizing the orientation workspace and it turns out that its orientation workspace is not symmetrical. The singularity loci are traced in its orientation workspace. A performance index, named Maximum Inscribed Circle Diameter (MICD) is presented to assess the maximum tilt of the moving-platform for any azimuth angle. The distributions of MICD are plotted in the design space for different moving-platform heights. The optimum region with regard to MICD is obtained. It is noteworthy that the evolution of MICD as a function of movingplatform height in both operation modes is the opposite. Therefore, a reconfiguration strategy is proposed to ensure the moving-platform working above the minimum required orientation for any moving-platform height.

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“…The two factors correspond to two types of parallel singularities, namely constraint and actuation singularities [33,34]. These singularities will be further investigated hereafter.…”

Section: Singularity Analysismentioning

confidence: 99%

A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

Nurahmi

Caro

Solichin

2019

Mechanism and Machine Theory

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“…Nevertheless, 3T1R PMs can also be obtained through ad hoc architectures. In the literature, somehow exhaustive enumerations of these architectures have been presented (see, for instance, Amine et al, 2013; Carricato, 2005; Kong & Gosselin, 2004; Lee & Hervé, 2011). Listing possible architectures for 3T1R PMs does not provide many pieces of information on their characteristics and specific kinematic and dynamic analyses are necessary to highlight their qualities and defects.…”

Section: Introductionmentioning

confidence: 99%

TetraFLEX: Design and kinematic analysis of a novel self‐aligning family of 3T1R parallel manipulators

Simas

Gregorio

Simoni

2022

Journal of Field Robotics

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A new family of 3T1R parallel manipulators (PMs) with self-aligning property, named TetraFLEX, is presented. 3T1R manipulators have many applications in different fields. Moreover, self-aligning property refers to the presence of passive joints in the PM limbs that are conceived to compensate for possible misalignments between the sliding directions of the actuated prismatic(P)-pairs. This property allows the fixation of the limbs in different frame geometries. Thus, this advantage broadens the PM applications to field robotics in several scenarios. Here, the position and singularity analyses of the new family of self-aligning PMs is addressed with a unified approach.The results are that both the direct and the inverse position analyses have simple closed-form solutions and that wide free-from-singularity regions of TetraFLEX PMs' workspace exist. The effectiveness of the technical proposal is also illustrated by discussing their design criteria and kinetostatics performances in a case study.

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“…The workspace size also changes depending on the value of design parameters [8]. The singularity analysis of a mechanism can be carried out by using Grassmann-Cayley algebra and the concept of wrench graph in [9] [10] [11] which become the main algorithm of a graphical user interface in [12]. The singularity of 3-DOF parallel mechanism has been computed and simulated in ADAMS in [13].…”

Section: Introductionmentioning

confidence: 99%

KASITS: A Graphical User Interface for Kinematic Analysis and Synthesis of Five-Bar Linkage with Prismatic Joint

Rahman

Hadi

Nurahmi

et al. 2021

JMES Int. Journal of Mech. Eng. Sc.

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In this paper, a novel graphical user interface is developed for kinematic analysis and synthesis of five-bar linkage with prismatic joint, named KASITS. This interface has two menus that the users can freely select, namely for analysis and synthesis. In the analysis menu, the direct kinematics are derived to visually depict the overall workspace of the mechanism. Within this workspace, the singularity curves are plotted. In the synthesis menu, the value of design parameters is obtained for a given trajectory. An optimization is employed based on Pareto optimal solutions. The demonstration is provided to guide the users better.

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Conceptual Design of Schoenflies Motion Generators Based on the Wrench Graph

Abstract: The subject of this paper is about the conceptual design of parallel Schoenflies motion generators based on the wrench graph.By using screw theory and Grassmann geometry, some

Cited by 5 publications

References 22 publications

A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

TetraFLEX: Design and kinematic analysis of a novel self‐aligning family of 3T1R parallel manipulators

KASITS: A Graphical User Interface for Kinematic Analysis and Synthesis of Five-Bar Linkage with Prismatic Joint

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