Force capability in general 3DoF planar mechanisms

Mejía, Leonardo; Simas, Henrique; Martins, Daniel

doi:10.1016/j.mechmachtheory.2015.04.013

Cited by 23 publications

(8 citation statements)

References 12 publications

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“…Although there are three types of planar mechanisms (serial, parallel, and hybrid) for micropositioning stages, parallel mechanisms are widely used due to several advantages, namely: 1) high accuracy (errors are not accumulated through the kinematic chain), 2) high structural stiffness, and 3) low inertia [24], [25]). As a result, we have designed our system as a parallel mechanism as shown in Fig.…”

Section: Underactuated Planar Mechanismmentioning

confidence: 99%

Micropositioning and Control of an Underactuated Platform for Microscopic Applications

Park

Desai

2016

IEEE/ASME Trans. Mechatron.

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For automation of biological experiments at the micro-scale, highly precise manipulator equipped with a microscope is required. However, current micropositioning stages have several limitations, such as: 1) manual operation, 2) lack of rotational capability, 3) incompatibility with a microscope, and 4) small range of motion (RoM). This research aims to develop a microscope compatible XYθ micropositioning stage with large RoM for phenotyping multiple biological samples rapidly for various microscopic applications. An underactuated planar mechanism, kinematic analysis, and control of the XYθ stage are presented in this paper. The planar mechanism consists of two piezoelectric linear actuators for translational motion capability and two passive revolute joints at the tip of each linear actuator for rotational capability. Based on the kinematic analysis of the stage, controllability and control strategy of the underactuated stage is described. Finally, the feasibility of the micropositioning stage for a general positioning and orienting task is verified by both simulation and tissue core experiments.

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Section: Underactuated Planar Mechanismmentioning

confidence: 99%

Micropositioning and Control of an Underactuated Platform for Microscopic Applications

Park

Desai

2016

IEEE/ASME Trans. Mechatron.

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“…There are several methodologies which allow us to obtain a complete static analysis of robotic mechanisms; however, in this paper the formalism presented by Davies (Davies, 1983c) is used as the primary mathematical tool to analyze the mechanisms statically. The Davies method appears in many publications in the literature and further explanations regarding its use can be found in (Davies, 1983a,b,c;Cazangi, 2008;Weihmann et al, 2011Weihmann et al, , 2012Mejia et al, 2015).…”

Section: Statics Of Robotic Mechanismsmentioning

confidence: 99%

“…The Davies method provides a systematic way to relate the joint forces and moments in closed kinematic chains (Cazangi, 2008). This method is based on graph theory, screw theory and the Kirchhoff cut-set law and it can be used to obtain the statics of a robotic mechanism as a matricial expression (Mejia et al, 2015). The Davies method for static analysis can be described in a simplified way through the following steps:…”

Section: Statics Of Robotic Mechanismsmentioning

confidence: 99%

Wrench capability polytopes in redundant parallel manipulators

Mejía¹,

Frantz²,

Simas³

et al. 2015

23rd ABCM International Congress of Mechanical Engineering

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In this paper the characteristic wrench capability polytope of three different planar parallel manipulators is obtained from the optimization of its static equations. In order to solve the problem regarding the global optimization, an evolutionary algorithm known as differential evolution (DE) is used. The objective function of the optimization problem of force capability is defined by employing the screw theory and Davies method as a primary mathematical tool. Finally, some force capability polytopes are obtained for each studied manipulator.

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“…Recent works guided by Weihmann et al [22] and Mejia et al [12] use differential evolution algorithms (DE) to evaluate the force capability of planar parallel manipulators. Mejia et al [14] developed a mathematical closedform solution to obtain the force capability polytope of mechanism with 3 degrees of freedom. In this methodology Mejia et al [14] used screw theory and Davies method as primary mathematical tools to solve the kinematic and static of the mechanisms.…”

Section: Introductionmentioning

confidence: 99%

“…Mejia et al [14] developed a mathematical closedform solution to obtain the force capability polytope of mechanism with 3 degrees of freedom. In this methodology Mejia et al [14] used screw theory and Davies method as primary mathematical tools to solve the kinematic and static of the mechanisms. In this work, the mathematical tools developed to mechanisms in Weihmann et al [22] and Mejia et al [12] has been transferred to CRS.…”

Section: Introductionmentioning

confidence: 99%

Wrench distribution of a cooperative robotic system using a modified scaling factor method

Frantz

Rincon

Simas

et al. 2018

J Braz. Soc. Mech. Sci. Eng.

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Recently, industrial robots are being more and more widely used in a variety of machining applications, such as drilling, milling and grinding because of their flexibility in performing tasks in a relatively small space, and furthermore, at a lower cost. In many cases, the wrench capability of industrial robots is lower than the required, causing in some tasks the saturation of the actuators. The possibility of using two or more robots to perform a given task increases the wrench capability, allowing us to work out in applications which are impossible to solve using only one manipulator. A Cooperative Robotic System (CRS) increases the flexibility in the performance of tasks allowing a more homogeneous distribution of the forces generated during the interaction between the end-effector and the environment. In some cases, the CRS can be composed by robots with different capabilities, and a strategy for wrench distribution must be used. Recent works presented the force capability analysis using a scaling factor method for single serial robots. This paper proposes the use of this scaling factor method in CRS, seeking to obtain a balance of forces between the robots. The proposed method is discussed and graphical results are presented.

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Force capability in general 3DoF planar mechanisms

Cited by 23 publications

References 12 publications

Micropositioning and Control of an Underactuated Platform for Microscopic Applications

Micropositioning and Control of an Underactuated Platform for Microscopic Applications

Wrench capability polytopes in redundant parallel manipulators

Wrench distribution of a cooperative robotic system using a modified scaling factor method

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