Geometrical approach of planar hyper-redundant manipulators: Inverse kinematics, path planning and workspace

Yahya, Samer; Moghavvemi, Mahmoud; Mohamed, Haider A. F.

doi:10.1016/j.simpat.2010.08.001

Cited by 99 publications

(52 citation statements)

References 17 publications

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“…Among which, one of the most commonly used workspaces is the constant-orientation workspace, which can be obtained as the location of point o when the MP is kept at a constant orientation. Actually, some methods, like discretization method, geometrical method and numerical method [30,31], are often used to solve the workspaces. Thereinto, the discretization method is a simple way to determine the workspaces of PMs.…”

Section: Workpace Analysis Of the Hybrid Manipulatormentioning

confidence: 99%

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Zhang

Yao

et al. 2018

Chin. J. Mech. Eng.

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Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high stiffness and high dexterity. Therefore, in order to expand the application prospects of hybrid manipulator, a novel 5-degree-of-freedom (DOF) hybrid serial-parallel manipulator (HSPM) is proposed. Firstly, the design plan of this manipulator is introduced. Secondly, the analysis of this manipulator is carried out in detail, including kinematics analysis, statics analysis, and workspace analysis. Especially, an amplitude equivalent method of disposing the over-constrained force/couple to the non-overconstrained force/couple is used in the statics analysis. Then, three performance indices are used to optimize the PM. Two of them have been widely used, and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices, the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM, the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

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Section: Workpace Analysis Of the Hybrid Manipulatormentioning

confidence: 99%

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Zhang

Yao

et al. 2018

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

show abstract

“…In this section, the kinematics problems in terms of position analysis, workspace, and dexterity of the robot are analyzed in detail [5][6][7][8][9][10][11]. First, the inverse and the forward positon analyses of the mechanism are calculated by explicit solution; then the workspace of the robot is determined based on the forward position analysis algorithm.…”

Section: Kinematics Problem Analyses Of the Robotmentioning

confidence: 99%

Concept Design and Analysis of a Novel Steamer-Filling Robot

Xing

Zhao

2017

Journal of Robotics

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Steamer-filling operation is a crucially important process in the liquor-making process, directly related to liquor yield and liquor quality. But so far, this process is still dominated by manual operation. In view of working environment and labor shortages in this industry, a novel exclusive steamer-filling robot is proposed in this paper. Firstly, the steamer-filling operation process is described, and the structure composition and function realization of the robot are particularly introduced. Secondly, the kinematics problems in terms of position analysis and workspace of the robot are analyzed in detail. Thirdly, experimental analyses are made to prove the validity and efficiency of the robot system. Finally, some conclusions and the future developing direction are prescribed.

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“…For example, to command a five links planar redundant manipulator with the ability to rotate around its vertical axis, the six motors (five motors for each joint bend and one motor to rotate the whole manipulator around its upright axis) of the manipulator ought to be controlled. Using our previously published method [7,8], the configuration of the manipulator has three controllable angles instead of (n + 1) angles. Figure 1(b) shows the configuration of the manipulator when there are just three controllable angles.…”

Section: Workpace Analysismentioning

confidence: 99%

“…, θ n+1 . For the manipulator shown in Figure 1(b) using the method of Yahya et al [8], the angles between the links are equal, θ 3 = θ 4 = C423 · · · = θ n+1 . Therefore, the position coordinates of the target point are…”

Section: Workpace Analysismentioning

confidence: 99%

Dexterity of underactuated six degrees of freedom three dimensional redundant manipulators

Yahya

Almurib

Moghavvemi

2014

ANZIAMJ

Self Cite

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We quantify the dexterity of underactuated robot manipulators equipped with active and passive joints. We discuss the harnessing of redundant degrees of freedom in a robotic manipulator in order to keep it in service. We assume that the passive joints are locked at an arbitrary known position. There are three important dexterity measures: workspace volume, reachability, and manipulability. We discuss the workspace volume of a six degrees of freedom, three dimensional, redundant manipulator with an arbitrarily located passive joint.

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Geometrical approach of planar hyper-redundant manipulators: Inverse kinematics, path planning and workspace

Cited by 99 publications

References 17 publications

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Concept Design and Analysis of a Novel Steamer-Filling Robot

Dexterity of underactuated six degrees of freedom three dimensional redundant manipulators

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