Kinematic analysis and energy saving optimization design of parallel lifting mechanism for stereoscopic parking robot

Jiang, Jingang; Wu, Dianhao; He, Tianhua; Zhang, Yongde; Li, Changpeng; Sun, Hai Gang

doi:10.1016/j.egyr.2022.01.133

Cited by 11 publications

(6 citation statements)

References 11 publications

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“…According to the isotropy evaluation index, the singular degree evaluation index, and working space index proposed in the literature [18,19], the parameters of each component of the 2-DOF parallel actuator are finally determined as shown in Table 5. Under these parameters, the average value of the singular degree evaluation index and the isotropy evaluation index are the lowest, and the isotropy evaluation index shows that the actuator has great kinematic performance, thus, ensuring the overall stability of the actuator.…”

Section: B Bmentioning

confidence: 99%

Safety Analysis, Design and Evaluation of 2-DOF Parallel Lifting Actuator on Stereo Parking Robot

Jiang

Tan

et al. 2022

Actuators

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Stereo garage technology can effectively alleviate the problem of parking difficulties, but the safety problems of its actuators, via which the core of stereo parking function can be realized, seriously affect its promotion and further development. In this paper, a two degrees of freedom (2-DOF) parallel lifting actuator for a stereo parking robot is designed by researching the type synthesis of the mechanism based on the screw theory. The limb constrained triangle method, the flexibility of limb constrained triangle, and the failure probability are proposed to determine the final configuration of the parallel lifting actuator. Then, this paper completes the dimensional optimization of the parallel lifting actuator based on the multi-motion performance indexes and kinematic analysis, which improves the safety and stability of the actuator. Finally, this paper verifies the validity of the parallel lifting actuator by establishing a parallel lifting actuator verification model system. By verifying the dynamic characteristics of the model mobile platform under different load conditions, it is proven that the kinematic stability of the mobile platform decreases with the increase of load mass under load conditions. Additionally, through practical application experiment, it is proven that the parallel lifting mechanism can effectively alleviate the parking difficulty problem.

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Section: B Bmentioning

confidence: 99%

Safety Analysis, Design and Evaluation of 2-DOF Parallel Lifting Actuator on Stereo Parking Robot

Jiang

Tan

et al. 2022

Actuators

Self Cite

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“…Parallel Manipulators (PMs) have gained a wide attention from the research fraternity due to the numerous advantages they offer over their serial counterparts like higher rigidity, better load carrying capacity, precise positioning, higher payload to weight ratio, higher kinematic and better dynamic features. 1,2 These traits allow the PMs to be used in numerous practical applications like in manufacturing, 3 lifting mechanisms, 4,5 space technologies, 6 simulators, 7,8 friction stir welding machines, 9 etc. In recent decades, it has been found that 3-DoF PMs are relevant to substitute 6-DoF PMs in most of the applications because of their advantages such as lower design and manufacturing cost, as well as a simpler architecture.…”

Section: Introductionmentioning

confidence: 99%

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

Jain,

Jawale

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper strives to compare between two 3-Degree of Freedom (DoF) Spatial Parallel Manipulators (SPMs) belonging to the 3-[PP]S-Y family viz., 3-RRS and 3-RPS. The planes of the manipulators belong to this family are arranged in a Y-pattern such that they intersect at 120° in a common line. Both of these manipulators have a common motion of 1T2R (T: Translation, R: Rotation) type, and their comparison in this work is carried out by considering the effects of link tolerance and parasitic motions, for the same task space and End-Effector (EE) positions. Their respective position kinematic analysis is discussed initially. The comparison is then carried out by considering two different cases based on the sizes of the moving platform relative to the base platform. The errors are quantified and all the comparative results are represented with the aid of plots. The conclusions are summarized at the end that allow to know the better of the two manipulators for the given effects.

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“…Owing to the large load and high motion accuracy of parallel mechanisms, the application scenarios of parallel robots, such as satellite trackers [1], lifting mechanisms [2], and parallel machine tools [3], are becoming more and more extensive. However, it is crucial to accurately control the parallel robot during the application, analyze the dynamic characteristics of the manipulator, and model its dynamics.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Solution of 6-DOF Parallel Mechanism

Jing

2022

IEEE Access

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When a parallel robot used in a scene that requires force control, rapid attitude adjustment, or precise positioning, we need to know the dynamic characteristics of the moving platform and the motion branch, so it is necessary to do the dynamic analysis of the parallel robot. In this study, for the six-degreeof-freedom parallel mechanism, the Newton-Eulerian method is used to model the dynamics, and then the inverse dynamics simulation is performed through the ADAMS simulation software to verify the correctness of the established dynamic equations. Finally, the Euler integration method is used to solve the dynamic equations numerically. When establishing dynamic equations, it is more convenient to use spiral coordinates to express the angular motion of the motion platform of the parallel mechanism. However, it is difficult to solve the equation numerically. When solving the equations in this study, Euler angles are used to express angular motion. The Euler angle is used as an iterative variable representing the angular motion in the solving process. Then the Euler angle is converted into a rotation matrix, and the parameters of the spiral coordinates are obtained through the rotation matrix, and the dynamic equation is finally solved. The simulation and calculation results show that the established dynamic equation is correct, and the solution to the dynamic equation is also correct.INDEX TERMS Newton-Euler method, dynamic equations, Euler integration method, solution of the dynamic equation.

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Kinematic analysis and energy saving optimization design of parallel lifting mechanism for stereoscopic parking robot

Cited by 11 publications

References 11 publications

Safety Analysis, Design and Evaluation of 2-DOF Parallel Lifting Actuator on Stereo Parking Robot

Safety Analysis, Design and Evaluation of 2-DOF Parallel Lifting Actuator on Stereo Parking Robot

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

Dynamic Modeling and Solution of 6-DOF Parallel Mechanism

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