Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg

Russo, Matteo; Herrero, Saioa; Altuzarra, Oscar; Ceccarelli, Marco

doi:10.1016/j.mechmachtheory.2017.10.004

Cited by 70 publications

(39 citation statements)

References 9 publications

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“…The locomotion subsystem is composed of two identical leg units. The kinematic scheme of the leg is shown in Figure 1a and its kinematics and dynamics are discussed and analyzed in detail in Reference [16,17]. Each leg unit is characterized by a hybrid structure with a 3UPR lower-mobility parallel mechanism that connects the hip to the ankle and that is actuated by three linear actuators in the links.…”

Section: Design Of Larmbotmentioning

confidence: 99%

“…For this reason, this paper presents the LARMbot 2, with a novel leg mechanism. The proposed leg design was based on a 3UPR architecture that was characterized by no singularity of any kind in its reachable workspace, as shown in Reference [16], and optimized to have a larger step than the previous design (approximately 0.8 times the leg height) [17]. In this paper, the implementation of a novel leg mechanism in the LARMbot humanoid was described.…”

Section: Introductionmentioning

confidence: 99%

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Design and Experiments of a Novel Humanoid Robot with Parallel Architectures

2018

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In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, arms—and then compared to its previous version, which was characterized by a different leg mechanism, to highlight the advantages of the latest design. A prototype was then presented, with constructive details of its subsystems and its technical specifications. To characterize the performance of the proposed robot, experimental results were presented for both the walking and weight-lifting operations.

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Section: Design Of Larmbotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Experiments of a Novel Humanoid Robot with Parallel Architectures

2018

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“…the mechanism. Matteo Russo et al [23] optimized the parallel mechanism with 3-UPR architecture for a robotic leg application by using four different objective functions. Robert et al [24] proposed an optimization method that enables kinematic and dynamic optimization, combined with velocity profiling of the motor/drive system.…”

Section: Introductionmentioning

confidence: 99%

Development and Experimental Research of TBM Integrated Cutter System Based on Topological Structure Theory of Planar Mechanism

Meng

Yang

Huo

et al. 2020

Preprint

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Tunnel Boring Machine (TBM) is widely used in tunnel construction due to its advantages of high efficiency and environmental friendliness. The cutters distributed on TBM cutterhead are the main tools of TBM for rock breaking. They are easy to wear and need to be replaced frequently. At present, the replacement of TBM cutters entirely depends on manual work. Manual cutters change not only has a terrible operating environment, but also takes a long time, which leads to a large risk of tunnel construction and a long construction period. However, the traditional cutter system (TCS) is not suitable to use robots for disassembly and assembly because it is composed of many parts. Therefore, developing an integrated cutter system (ICS) suitable for robot operation is of great significance to reduce the cycle and cost of tunnel construction, and to facilitate the risk management of tunnel engineering. In this paper, the theory of the planar mechanism topology structure is applied to the early design process of the ICS, and four types of ICS are obtained. Then this article puts forward the evaluation index of the ICS based on the Analytic Hierarchy Process (AHP), which is used to evaluate the above four ICS solutions to obtains the optimal ICS. Finally, this paper proposes a dead-point anti-loosening structure for the ICS, and performs related experimental verification. The experimental results show that compared with the TCS, the novel ICS has a greatly reduced cutters change action and a significantly improved fastening performance, which can meet the robot cutters change requirements.

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“…For parallel mechanisms, kinematics [ 9 ], dynamics [ 10 ], joint clearance [ 11 ] and friction [ 12 ] models have been well studied. In [ 13 ], inverse and forward kinematic analyses were performed to design a parallel robotic leg. An optimal parameter was obtained via a multi-objective optimization.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Fault Diagnosis of Delta 3D Printers Using Attitude Sensors Based on Support Vector Machines

Yang

Bai

et al. 2018

Sensors

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Health condition is a vital factor affecting printing quality for a 3D printer. In this work, an attitude monitoring approach is proposed to diagnose the fault of the delta 3D printer using support vector machines (SVM). An attitude sensor was mounted on the moving platform of the printer to monitor its 3-axial attitude angle, angular velocity, vibratory acceleration and magnetic field intensity. The attitude data of the working printer were collected under different conditions involving 12 fault types and a normal condition. The collected data were analyzed for diagnosing the health condition. To this end, the combination of binary classification, one-against-one with least-square SVM, was adopted for fault diagnosis modelling by using all channels of attitude monitoring data in the experiment. For comparison, each one channel of the attitude monitoring data was employed for model training and testing. On the other hand, a back propagation neural network (BPNN) was also applied to diagnose fault using the same data. The best fault diagnosis accuracy (94.44%) was obtained when all channels of the attitude monitoring data were used with SVM modelling. The results indicate that the attitude monitoring with SVM is an effective method for the fault diagnosis of delta 3D printers.

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Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg

Cited by 70 publications

References 9 publications

Design and Experiments of a Novel Humanoid Robot with Parallel Architectures

Design and Experiments of a Novel Humanoid Robot with Parallel Architectures

Development and Experimental Research of TBM Integrated Cutter System Based on Topological Structure Theory of Planar Mechanism

Intelligent Fault Diagnosis of Delta 3D Printers Using Attitude Sensors Based on Support Vector Machines

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