Dynamic Identification of a 3-PRS Parallel Robot with Scissor-Type Prismatic Joint: A Cloud-Based Approach

A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing key geometric parameters, the TSE's design can yield a specific desired workspace volume and differential motion behavior. A general kinematic model for diverse TSEs is derived, and the kinematic properties, including workspace, singularity, and the Jacobian singular values, are evaluated. From these expressions, four key design parameters are identified, and their sensitivity upon the workspace volume and the Jacobian singular values is analyzed. A case study in autonomous aircraft assembly is presented using the insights gained from the design parameter studies.

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“…Eliminating h, r, and b from ( 7), (11), and (12) yields the following second Kinematic Constraint Equation.…”

Section: B General Kinematic Constraint Derivationmentioning

confidence: 99%

“…The drawback of parallel manipulators is a relatively small workspace, as analyzed in [6], [7], and [8]. Combining parallel manipulators with extendable mechanisms, such as cables [9] and scissor mechanisms [10] [11], makes the workspace significantly larger.…”

mentioning

confidence: 99%

Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly

Gonzalez

Asada

2017

IEEE Robot. Autom. Lett.

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“…To address this limitation, scissor mechanisms can be used to amplify the height range. A 3-DOF example of this concept is analyzed in [3]. We designed a new class of 6-DOF parallel platform that uses parallel scissor mechanisms *This work was supported by The Boeing Company.…”

Section: Introductionmentioning

confidence: 99%

Triple Scissor Extender: A 6-DOF lifting and positioning robot

Gonzalez

Asada

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving the base ends of the individual scissors. The top point of each scissor is connected to one of three ball joints located at the three vertices of the top triangular plate holding the end-effector. Coordinated motion of the 6 linear actuators at the base allows the end-effector to reach an arbitrary position with an arbitrary orientation. The design concept of the Triple Scissor Extender is presented, followed by kinematic modeling and analysis of the the Inverse Jacobian relating actuator velocities to the end-effector velocities. The Inverse Jacobian eigenvalues are determined for diverse configurations in order to characterize the kinematic properties. A proof-of-concept prototype has been designed and built. The Inverse Jacobian for use in differential control is evaluated through experiments.

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An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

Hou

Zhang

Zeng

2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Dynamic modeling serves as the fundamental basis for dynamic performance analysis and is an essential aspect of the control scheme design of parallel manipulators. This report presents a concise and efficient solution to the dynamics of Stewart parallel manipulators based on the screw theory. The initial pose of these manipulators is described. Then the pose matrix of each link of the Stewart parallel mechanism is obtained using an inverse kinematics solution and an exponential product formula. Considering the constraint relationship between joints, the constraint matrix of the Stewart parallel manipulator is deduced. In addition, the Jacobian matrix and the twist of each link are obtained. Moreover, by deriving the differential form of the constraint matrix, the spatial acceleration of each link is obtained. Based on the force balance relationship of each link, the inverse dynamics and the general form of the dynamic model of the Stewart parallel manipulator is established and the process of inverse dynamics is summarized. The dynamic model is then verified via dynamic simulation using the ADAMS software. A numerical example is considered to demonstrate the feasibility and effectiveness of this model. The proposed dynamic modeling approach serves as a fundamental basis for structural optimization and control scheme design of the Stewart parallel manipulators.

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Dynamic Identification of a 3-PRS Parallel Robot with Scissor-Type Prismatic Joint: A Cloud-Based Approach

Cited by 3 publications

References 18 publications

Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly

Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly

Triple Scissor Extender: A 6-DOF lifting and positioning robot

An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

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