Design and Motion Control of Spherical Robot With Built-In Four-Wheel Omnidirectional Mobile Platform

Bu, Suwan; Yan, Liang; Gao, Xiaoshan; Wang, Gang; Zhao, Peiran; Chen, I‐Ming

doi:10.1109/tim.2023.3267524

Cited by 2 publications

(2 citation statements)

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“…For the non-trivial solution, where sin (θ3 -γ) = 0, so θ3 = γ. Replacing the value mentioned in (24) , yields to the following outcomes:…”

Section: B Direct Kinematicsmentioning

confidence: 99%

“…Tests carried out on the experimental prototype show the effectiveness of the design and its ability to meet the requirements of the initially predefined specifications. Bu et al [24] present the design of a mobile spherical robot using four four-wheel omnidirectional patterns. A motion controller with a slipping observer is also implemented to increase the robot's precision.…”

Section: Introductionmentioning

confidence: 99%

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Design, Analysis, and Implementation of a 3-DOF Spherical Parallel Manipulator

Djennane,

Chehaidia,

Yakoub

et al. 2024

IEEE Access

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The agile eye is classified as a 3-degrees of freedom (DOF) type 3-RRR spherical parallel mechanism (SPM) designed to replicate the movement patterns seen in the human eye. The end organ exhibits a range of motion inside a cone of vision spanning 140°, with a twist tolerance of ±30°.Additionally, the mechanism can achieve angular velocities exceeding 1000 °/s and angular accelerations surpassing 20 °/s 2 . The objective of this research is to conduct a comprehensive examination of the direct and inverse kinematics of the spatial parallel manipulator (SPM) on a manipulator. The purpose of doing a kinematic analysis on the manipulator is to enhance the design optimization process, accurately determine the dimensions of all components, and improve the functionality of the computer-aided design (CAD) system. This study aims to ensure the efficient operation of the SPM and maximize its available workspace. Additionally, this study enables the achievement of a high level of stiffness inside the workspace and the establishment of clearly comprehensible limits for the workspace. Moreover, it facilitates the precise control of the SPM. An evaluation is conducted to assess the efficacy of the existing technique by comparing its outputs with those obtained from a virtual reality simulation using the commercially available software CopeliaSim. The control mechanism described in the present paper demonstrates a surplus in the resolution of precision problems while ensuring competitiveness at a controlled cost. The implementation of the robot revealed the effectiveness of the design approach adopted by recording an error of no more than 1%. INDEX TERMSMechatronics; Precision engineering; Spherical parallel manipulator; Euler angles; Optimization; Implementation. NOMENCLATURE Ui Unit vectors directed along the axes of the actuators Ai K Dexterity γ Angle between the actuators axes Ai. ‖.‖ Euclidean norm of the matrix Vi Unit vectors directed along the axes of the pivot joints connected to the end effectors Bi. ζ Reciprocal number Wi Unit vectors directed along the axes of the intermediate pivot joints Ci. η Global index for the optimization of robot α1 Angle between Ai and Ci. W Working space of the α2 Angle between Ci and Bi. kappamin Minimum dexterity β Angle between the normal of the base and the actuators axes Ai. Vi Initial state vector of the manipulator θ Angle of rotation motor. R Rotation matrix J Jacobean matrices of the manipulator W1, W2, W3 Projections of Wi vectors in the fixed frame This article has been accepted for publication in IEEE Access.

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“…For the non-trivial solution, where sin (θ3 -γ) = 0, so θ3 = γ. Replacing the value mentioned in (24) , yields to the following outcomes:…”

Section: B Direct Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%