Kinematic analysis of the 3-RPS-3-SPR series–parallel manipulator

Nayak, Abhilash; Caro, Stéphane; Wenger, Philippe

doi:10.1017/s0263574718000826

Cited by 19 publications

(9 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the past research, the parallel mechanism is generally regarded as a combination of several series mechanisms. By establishing the velocity / acceleration mapping relationship between the driving branch and the hinge points of the moving platform, the velocity / acceleration of the original point of the moving platform can be synthesized, which idea has been successfully applied in 3-RPS [2], UPU [3], 3-CRR [4] and other parallel mechanisms. Gosselin [5] transformed the driving branch velocity into the linear velocity of several points on the moving platform to derive a new Jacobian matrix.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A universal and simple method to solve the velocity / acceleration of parallel mechanism

Wang

Guo

Zhong

et al. 2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

The velocity/ acceleration analysis is an important part of the kinematic analysis, which is of great significance to establish a universal and simple velocity / acceleration analysis model to realize the precise control of parallel mechanism. In this paper, according to the differential relationship among position, velocity and acceleration, the velocity / acceleration mapping formula between the driving branch and the position and attitude parameters of the moving platform is established. Moreover, in order to ensure the accuracy of calculation, the characteristic value correction iteration method is used to solve the singular and ill-conditioned of Jacobian matrix and Hessian matrix which may be generate under some special attitudes. The principle of the method is universal and easy to understand, moreover, the experiments show that the method can realize the velocity / acceleration solution of hybrid drive mechanism.

show abstract

Section: Introductionmentioning

confidence: 99%

“…In order to determine the motion relationship, the driving branches must be related to all the independent parameters. According to the reference [2], formula (2) can be obtained by using the equation ( )…”

mentioning

confidence: 99%

A universal and simple method to solve the velocity / acceleration of parallel mechanism

Wang

Guo

Zhong

et al. 2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…Xu et al 8 proposed a new redundantly actuated parallel manipulator, and the inverse displacement solution, velocity, and singularity analyses are presented. Nayak et al 9 dealt with the kinematic analysis of a series-parallel manipulator, which is a minimal octic univariate polynomial with four quadratic factors. Fang et al 10 designed a new spindle parallel manipulator, and the kinematic mapping between the considered manipulator and its nonredundantly actuated forms are analyzed mathematically.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator

Wang

2022

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Modeling and analysis of inverse kinematics and dynamics for a novel parallel manipulator are established in this article. The manipulator is a spatial mechanism, which consists of six identical kinematic chains connecting to the moving platform. Firstly, screw theory is applied to compute the degree of freedom of this manipulator. Then the inverse position is achieved based on the homogeneous coordinate transformation principle while motion law of the moving platform is given. Furthermore, the first-order influence coefficient method is employed to obtain the Jacobian matrices of the considered manipulator and the links, so do the velocities. Afterward, the rigid-body dynamics model is derived from the Lagrange formulation. To obtain the integrated inverse dynamics model, an approach for simplified flexible dynamics analysis is proposed. Finally, simulations are conducted to compute the position and driving force of this considered manipulator, which validate the new method simultaneously.

show abstract

“…Chen [7] analyzed the singularities of the 3-UPU (U stands for the universal joint and the prismatic pair P is actuated) parallel mechanism. Nayak [8] carried out a singularity analysis for a serial-parallel robot. Ma [9] proposed a singularity analysis method for a 3/6-SPS Gough-Stewart parallel manipulator based on geometric algebra, in which S represents the spherical joint and P represents the prismatic pair.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Singular Configuration of Robotic Manipulators

et al. 2021

View full text Add to dashboard Cite

Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, the identification of singular configurations is extremely important. However, serial manipulators that do not meet the Pieper criterion cannot obtain singular configurations through analytical methods. A joint angle parameterization method, used to obtain singular configurations, is here creatively proposed. First, an analytical method based on the Jacobian determinant and the proposed method were utilized to obtain their respective singular configurations of the Stanford manipulator. The singular configurations obtained through the two methods were consistent, which suggests that the proposed method can obtain singular configurations correctly. Then, the proposed method was applied to a seven-degree-of-freedom (7-DOF) serial manipulator and a planar 5R parallel manipulator. Finally, the correctness of the singular configurations of the 7-DOF serial manipulator was verified through the shape of the end-effector velocity ellipsoid, the value of the determinant, the value of the condition number, and the value of the manipulability measure. The correctness of singular configurations of the planar 5R parallel manipulator was verified through the value of the determinant, the value of the condition number, and the value of the manipulability measure.

show abstract

Kinematic analysis of the 3-RPS-3-SPR series–parallel manipulator

Cited by 19 publications

References 30 publications

A universal and simple method to solve the velocity / acceleration of parallel mechanism

A universal and simple method to solve the velocity / acceleration of parallel mechanism

Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator

Analysis of Singular Configuration of Robotic Manipulators

Contact Info

Product

Resources

About