Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation Modes

Caro, Stéphane; Chablat, Damien; Wenger, Philippe; Kong, Xianwen

doi:10.1007/978-3-319-05431-5_21

Cited by 4 publications

(5 citation statements)

References 11 publications

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“…They derived a VAM from the architecture of the 3-RPR planar parallel manipulator by actuating either the first revolute joint or the prismatic joint of its kinematics chains. The same concept was introduced in [7] based on the 3-RRR and a first prototype was reported in [11].…”

Section: Mechanism Architecture Of the Navaro IImentioning

confidence: 99%

NAVARO II, a Novel Scissor-Based Planar Parallel Robot1

Chablat

Rolland

2019

Journal of Mechanisms and Robotics

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This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanism is an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the three legs is replaced by a scissor to obtain a larger working space and avoid the use of parallelograms to operate the second revolute joint. To obtain better spatial rigidity, the leg mechanism is constructed by placing the scissors in an orthogonal plane to the plane of the manipulator displacement (3-RRR or even the 3-RPR). This geometric property brings the significant consequence of allowing the scissors to directly substitute the prismatic chains in the 3-RPR and enjoy the same kinematics advantages for the overall robots as only one solution to the inverse kinematic model. From the Jacobian expression, surfaces of singularity can be calculated and presented in a compact form. The singularity equations are presented for a robot with a similar base and mobile platform. The properties of the scissors are then determined to have a prescribed regular workspace.

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Section: Mechanism Architecture Of the Navaro IImentioning

confidence: 99%

NAVARO II, a Novel Scissor-Based Planar Parallel Robot1

Chablat

Rolland

2019

Journal of Mechanisms and Robotics

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“…They derived a VAM from the architecture of the 3-RPR planar parallel manipulator by actuating either the first revolute joint or the prismatic joint of its legs. The same concept was introduced in [7] based on the 3-RRR and a first prototype was created in [10].…”

Section: Mechanism Architecture Of the Navaro IImentioning

confidence: 99%

NaVARo II: A New Parallel Robot With Eight Actuation Modes

Chablat¹,

Rolland

2018

Volume 5A: 42nd Mechanisms and Robotics Conference

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This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanism is an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the three legs is replaced by a scissor to obtain a larger working space and avoid the use of parallelograms to operate the second revolute joint. To obtain a better spatial rigidity, the leg mechanism is constructed by placing the scissors in an orthogonal plane to the displacement. Unlike the first NaVARO robot, the kinematic model is simpler because there is only one solution to the inverse kinematic model. Surfaces of singularity can be calculated and presented in a compact form. The singularity equations are presented for a robot with a similar base and mobile platform.

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“…As NaVARO robot has only one working mode, knowing the position of the mobile platform and using the inverse kinematics, we can know the position of the proximal and distal of the three legs. The kinematic model of NaVARo was introduced in [3]. The following equation defines the Cartesian velocityṗ of the point P through the three legs.…”

Section: B Jacobian Matricesmentioning

confidence: 99%

“…These problems can be solved by introducing actuation redundancy, which involves force control algorithms [1]. The kinetostatic performance of a planar parallel mechanism, NaVARo, with variable actuation modes is presented in [2], [3]. The homing, calibration and model-based predictive control for the 4RPR parallel architecture is shown in [4].…”

Section: Introductionmentioning

confidence: 99%

A framework for the control of a parallel manipulator with several actuation modes

Chablat¹,

Jha²,

Caro³

2016

2016 IEEE 14th International Conference on Industrial Informatics (INDIN)

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There have been several research works on reconfigurable parallel manipulators in the last few years. Some robots are reconfigurable in the sense that the position of the anchor points on the moving platform or the actuated joints can be changed. Some problems may arise when one intends to make a prototype and develop its control scheme. A reconfigurable planar parallel robot, named NaVARo, is a 3-DOF planar parallel manipulator with eight actuation modes. The subject of this paper is about a control scheme of NaVARo while taking advantage of multiple sensors such as motor encoders, additional absolute encoders and magnetic sensors used to determine the current assembly mode of the manipulator. Finally, a methodology is presented to determine the home configuration of NaVARo.

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Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation Modes

Cited by 4 publications

References 11 publications

NAVARO II, a Novel Scissor-Based Planar Parallel Robot1

NAVARO II, a Novel Scissor-Based Planar Parallel Robot1

NaVARo II: A New Parallel Robot With Eight Actuation Modes

A framework for the control of a parallel manipulator with several actuation modes

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