Design and kinematic analysis of a 4-DOF serial-parallel manipulator for urban bus driving simulator

Jaberi, Amir; Nahvi, Ali; Hasanvand, Milad; Masouleh, Mehdi Tale; Arbabtafti, Mohammadreza; Yazdani, Mehdi; Lagha, M.; Hemmatabadi, M.; Samiezadeh, Saman

doi:10.1109/icrom.2013.6510142

Cited by 4 publications

(1 citation statement)

References 16 publications

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“…Serial‐parallel manipulators, as an emerging class of manipulators, inherit the advantages of both serial and parallel manipulators. () However, the production of these serial‐parallel manipulators may cause a big expense that restricts their wide applications. Nowadays, it is still overwhelming to use serial and parallel manipulators in industrial practice.…”

Section: Introductionmentioning

confidence: 99%

Optimal zeroing dynamics with applications to control of serial and parallel manipulators

Zhang

et al. 2018

Optim Control Appl Methods

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Summary The appearance of robot manipulators has dramatically improved the productivity in manufacturing. Serial and parallel manipulators are 2 classes of most popularly investigated manipulators, which have been playing an important role in robotic domain for a long time. Optimal control theory is a widely employed method that can achieve the objective constrained by some equations as subtasks, whereas zeroing dynamics is another powerful method to solve time‐varying problems with an exponential rate of error convergence. Intuitively, the cross‐fertilization of optimal control theory and zeroing dynamics may reach the capability to deal with time‐varying problem in a cost‐optimal manner. In this paper, we make progress along this direction by combining the optimal control theory and zeroing dynamics to propose a novel method called optimal zeroing dynamics for motion control of manipulators. The proposed method is applied to the control of serial and parallel manipulators, and the corresponding results have illustrated high accuracy and low sensitivity of the proposed optimal zeroing dynamics to disturbances.

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Section: Introductionmentioning

confidence: 99%

Optimal zeroing dynamics with applications to control of serial and parallel manipulators

Zhang

et al. 2018

Optim Control Appl Methods

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Translational shaking tests achieved on a 6-DOF hydraulic parallel manipulator

Yao

Zhang

Chen

et al. 2016

Industrial Robot: An International Journal

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Purpose – The paper aims to achieve translational shaking tests on a 6-DOF hydraulic parallel manipulator. Shaking tests are commonly performed on shaking tables, which are generally used for small motion ranges and are usually financially costly. The research is required to generate shaking motions in three translational directions for a specimen for shaking tests, but it also needs to produce 6-degree of freedom (DOF) motions with large motion ranges. Design/methodology/approach – A hydraulic 6-DOF (degree of freedom) parallel manipulator is applied to achieve this goal. The link-space control is adopted for the manipulator, and PID controller and feed-forward controller are used for each loop of the system. A hybrid reference signal generator is proposed by using a shaking controller, which is developed to convert the shaking motion into position signal. The converted result is directly added to the pose signal. The whole real-time control system is realized by using MATLAB xPC Target. Findings – The developed method is verified on the hydraulic 6-DOF parallel manipulator with specimen. Experiments show very promising results that the proposed technology is really applicable to perform translational shaking tests on the hydraulic parallel manipulator. Originality/value – A simple yet efficient solution is proposed that allows shaking tests in three translational directions performed on the hydraulic 6-DOF parallel manipulator with wide motion ranges. The paper presents a state-of-the-art related to the applications of parallel robots in several fields of technology.

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Time Delay Analysis of Vehicle Handling Variables for Near-Crash Detection of Drowsy Driving Using a Bus Driving Simulator

Ashouri

Nahvi

Azadi

2018

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)

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Design and kinematic analysis of a 4-DOF serial-parallel manipulator for urban bus driving simulator

Cited by 4 publications

References 16 publications

Optimal zeroing dynamics with applications to control of serial and parallel manipulators

Optimal zeroing dynamics with applications to control of serial and parallel manipulators

Translational shaking tests achieved on a 6-DOF hydraulic parallel manipulator

Time Delay Analysis of Vehicle Handling Variables for Near-Crash Detection of Drowsy Driving Using a Bus Driving Simulator

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