Five Bar Planar Manipulator Simulation and Analysis by Bond Graph

Jian, Shengqi; Yin, Cheng; Rolland, Luc; James, Lesley

doi:10.1115/imece2014-37602

Cited by 4 publications

(3 citation statements)

References 11 publications

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“…Other works including [19,20] briefly study the singularity of a five-bar linkage or a mechanism that can be transposed from a lower-or upper-class mechanism. Other research is oriented in the dimensioning of the DC motors of the five-bar linkage by Shengqi [21], in the development of control strategies of the planar 2 DoF manipulator by Roskam and Luc [22] and by Can and Sen [23] in minimizing the energy consumption through regenerative drives and optimally designed compliant elements.…”

Section: Introductionmentioning

confidence: 99%

Design of the five-bar linkage with singularity-free workspace

et al. 2023

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This paper shows the kinematic analysis and the synthesis of the five-bar linkage with symmetrical structure and singularity-free dexterous workspace. The type synthesis of the five-bar linkage shows that the number of symmetrical structures of five-bar linkage is limited to eight structures. This study deals with the forward and inverse kinematic analysis and synthesis of the five-bar structure 5-RRRRR. The synthesis equations allow the analytical computation of the link lengths of a symmetrical five-bar linkage using only revolute joints to avoid the singularities in an imposed dexterous workspace. A numerical example of the symmetrical five-bar linkage is analyzed and synthetized theoretically and characterized by computing the performance indices. The tests on an experimental model of the five-bar linkage 5-RRRRR confirm the singularity-free dexterous workspace.

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Section: Introductionmentioning

confidence: 99%

Design of the five-bar linkage with singularity-free workspace

et al. 2023

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“…The practical applications of such mechanisms are found in the literature. 1,2 A High-speed SCARA parallel robot, an RP-5AH industrial robot developed by Mitsubishi Electric Co., as well as a DexTAR manipulator for pick and place tasks is available. The larger workspace is a prominent feature of these manipulators.…”

Section: Introductionmentioning

confidence: 99%

Study on transmission angle and singularity in 5R planar mechanism

Jawale,

Choudhari,

Thorat

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Transmission angle is one of the important design criteria to be considered for the effective force and motion transmission of a mechanism. Poor transmission angles are detrimental to the performance of a mechanism as they exaggerate the effect of friction and clearances. In addition, the torque required to overcome external load tends to increase and the required torque capacity of the drive increases unnecessarily. The singularity positions in a workspace are closely related to the transmission angle of the manipulator configuration. For achieving a large singularity-free area, the configuration dimension needs to be increased. Even though the objective is to design a compact five-bar planar mechanism, the link dimensions are likely to increase to some extent while achieving the desired transmission angles. This paper deals with estimating the singularity-free area of a five-bar mechanism by considering variations in transmission angles for different link lengths. The generalized methodology presented in this work demonstrates the estimation of singularity-free largest reachable area and link proportions at which intra-link transmission angles are confined. A dimensionless singularity-free workspace index is proposed to quantify performance at various transmission angles.

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“…The paper [6] presents the design of a five-bar robot, analyzing optimal workspace and dexterity. The paper [7], besides the analytical kinematic model of the five-bar robot, demonstrates the use of the bond graph model to solve kinematic and dynamic problems with planar manipulators. The complete kinematic model of the mechanism presented in the paper [8] is formulated by considering the uncertainties included in the model.…”

Section: Introductionmentioning

confidence: 99%

Development of the programming and simulation system of 4-axis robot with hybrid kinematic

Slavković¹,

Živanović²,

Vorkapić³

et al. 2022

FME Transactions

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This paper presents an approach for developing the programming and offline simulation systems for low-cost industrial robots in the MatLab/Simulink environment. The approach is presented in the example of a virtual model of a 4-axis robot with hybrid kinematics intended for manipulation tasks. The industrial robot with hybrid kinematics consists of the well-known 5R planar parallel mechanism to which two serial axes have been added. The programming system developed in a MatLab environment involves generating G-code programs based on given pick and place points. The virtual model included in the simulation system is configured in the Simulink environment based on the CAD model of the robot and its kinematic structure. The kinematic model and the inverse kinematic problem have to be included in the virtual model to realize the motion of the virtual robot. The system of programming and simulation has been verified through several examples that include object manipulation to perform various tasks.

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Five Bar Planar Manipulator Simulation and Analysis by Bond Graph

Cited by 4 publications

References 11 publications

Design of the five-bar linkage with singularity-free workspace

Design of the five-bar linkage with singularity-free workspace

Study on transmission angle and singularity in 5R planar mechanism

Development of the programming and simulation system of 4-axis robot with hybrid kinematic

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