Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design

Krut, Sébastien; Company, Olivier; Nabat, Vincent; Pierrot, François

doi:10.1109/iros.2006.282120

Cited by 38 publications

(19 citation statements)

References 8 publications

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“…We know that the different Jacobian matrices are obtained through the diverse structures of the moving platform. [23][24][25] Based on the invention patent of Tianjin University, 26 the following study will be performed, which centers on the moving platform (including the primary platform and secondary platform) composed of a screw-nut-guide assembly for angular conversion. Then, the Jacobian matrix can be written as…”

Section: Jacobian Analysismentioning

confidence: 99%

Optimization design using a global and comprehensive performance index and angular constraints in a type of parallel manipulator

Mei

Zhang

Zang

et al. 2018

Advances in Mechanical Engineering

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The kinematic optimization of a type of parallel manipulator is addressed. Based on the kinematic analysis, the pressure angles within a limb and among the limbs are introduced, which have definite physical and geometrical meanings. In particular, a type of new pressure angle among the limbs (referred to as the second type of pressure angle among the limbs) is defined and considered to be one of the pressure angle constraints to ensure the kinematic performance. In the kinematic optimization phase, a global and comprehensive performance index, which combines the conditioning number of Jacobian matrix and pressure angles with the volume of workspace, is formulated as an objective function for minimization. One optimal kinematic design example that determines the dimensional parameters is provided to clarify the availability of the proposed approach. The analytical results indicate that good kinematic and dynamic performance can be guaranteed with the suggested design approach. Furthermore, the mutual effect between the dexterity and new pressure angle is analyzed. The effects of the pressure angle constraints on the minimum and maximum conditioning numbers and global dynamic performance indices through the entire workspace are discussed. The proposed research provides a method for the kinematic optimization design of parallel manipulators.

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Section: Jacobian Analysismentioning

confidence: 99%

Optimization design using a global and comprehensive performance index and angular constraints in a type of parallel manipulator

Mei

Zhang

Zang

et al. 2018

Advances in Mechanical Engineering

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show abstract

“…4. Heli4 [12]: its moving platform is made of three bodies linked by a revolute plus a helicoidal joint. The joint-and-loop graph is symmetric and a symmetrical arrangement of the actuators is possible [9].…”

Section: Articulated Moving Platform Conceptmentioning

confidence: 99%

Simplified dynamic modelling and improvement of a four-degree-of-freedom pick-and-place manipulator with articulated moving platform

Pierrot-Deseilligny

Krut

Nabat

2009

Proceedings of the Institution of Mechanical Engineers, Part I:

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This paper deals with high-speed robots for pick-and-place applications with a high rate of output. After mentioning the families of robot architectures that meet the specifications of pick-and-place, parallel kinematics architectures with articulated moving platform are introduced and described. Indeed, this concept seems very promising for this kind of application. After presenting the reasons to select the PAR4 architecture, it is fully described and modelled: position relationships, velocity relationships, and simplified dynamic model. Experimental results from extensive testing show a high performance potentiality. By analysing the experimental results, an improvement is proposed to have a better dynamic balance among the actuators. The improved version of the robot is the one chosen for the industrial development of the QUATTRO parallel robot.

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“…It is worth to note that, in this paper, H4 represents one class of 4DOF parallel robots, while Par4 [19], I4 [20], I4R [21], and Heli4 [22] are the four practical implementations of the general H4 concept appeared in the literature. There are other configurations for the H4 mechanism, for instance, the asymmetric designs that appeared in Ref.…”

Section: Introductionmentioning

confidence: 99%

“…However, Heli4 is an exception to this categorization, which utilizes a helical traveling plate structure. Since its inventors have already applied the geometric approach [22] to obtain the forward kinematics, this case is not discussed in this paper.…”

Section: Introductionmentioning

confidence: 99%

A Geometric Approach to Obtain the Closed-Form Forward Kinematics of H4 Parallel Robot

Liu

Kong

Wan

et al. 2018

Journal of Mechanisms and Robotics

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To obtain the closed-form forward kinematics of parallel robots, researchers use algebra-based method to transform and simplify the constraint equations. However, this method requires a complicated derivation that leads to high-order univariate variable equations. In fact, some particular mechanisms, such as Delta, or H4 possess many invariant geometric properties during movement. This suggests that one might be able to transform and reduce the problem using geometric approaches. Therefore, a simpler and more efficient solution might be found. Based on this idea, we developed a new geometric approach called geometric forward kinematics (GFK) to obtain the closed-form solutions of H4 forward kinematics in this paper. The result shows that the forward kinematics of H4 yields an eighth degree univariate polynomial, compared with earlier reported 16th degree. Thanks to its clear physical meaning, an intensive discussion about the solutions is presented. Results indicate that a general H4 robot can have up to eight nonrepeated real solutions for its forward kinematics. For a specific configuration of H4, the nonrepeated number of real roots could be restricted to only two, four, or six. Two traveling plate configurations are discussed in this paper as two typical categories of H4. A numerical analysis was also performed for this new method.

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Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design

Cited by 38 publications

References 8 publications

Optimization design using a global and comprehensive performance index and angular constraints in a type of parallel manipulator

Optimization design using a global and comprehensive performance index and angular constraints in a type of parallel manipulator

Simplified dynamic modelling and improvement of a four-degree-of-freedom pick-and-place manipulator with articulated moving platform

A Geometric Approach to Obtain the Closed-Form Forward Kinematics of H4 Parallel Robot

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