Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints

Wang, Shao-Chi; Hikita, Hiromitsu; Kubo, Hiroshi; Zhao, Yongsheng; Huang, Zhen; Ifukube, Tohru

doi:10.1016/s0094-114x(02)00132-5

Cited by 55 publications

(29 citation statements)

References 11 publications

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“…All the 6 DoF stages had three translational (x, y, z) and three rotational (θx, θy, θz) degrees of freedom. One 5 DoF stage (Wang et al, 2005) was found, which had no degree of freedom in rotation around the z-axis, and the 3 DoF stages had all two translational (x, y) and one rotational (θz) degrees of freedom. All the designs found in literature were fully compliant.…”

Section: State Of the Art In 6 Dof Compliant Stagesmentioning

confidence: 99%

“…In Liu et al (2001), Sun et al (2003), and Wang et al (2003) the platform is supported by 6 legs, that is the compliant equivalent of a 6-spherical-prismaticspherical manipulator. In Wang et al (2007) the platform is supported by 3 legs.…”

Section: Spatial Compliant Stagesmentioning

confidence: 99%

“…The inplane motion is provided by small-length plate flexures. Wang et al (2005) developed a 5 DoF compliant stage made with circular notch-type flexures, having a monolithic mechanism to provide translation along the x-axis and y-axis and a 4-revolute-revolute compliant mechanism to provide translation along the z-axis and rotations in all directions. The flexures in this stage are not arranged 120…”

Section: Spatial Compliant Stagesmentioning

confidence: 99%

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Review Article: Inventory of platforms towards the design of a statically balanced six degrees of freedom compliant precision stage

2011

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Abstract. For many applications in precision engineering, a six degrees of freedom (DoF) compliant stage (CS) with zero stiffness is desirable, to deal with problems like backlash, friction, lubrication, and at the same time, reduce the actuation force. To this end, the compliant stage (also known as compliant mechanism) can be statically balanced with a stiffness compensation mechanism, to compensate the energy stored in the compliant parts, resulting in a statically balanced compliant stage (SBCS). Statically balanced compliant stages can be a breakthrough in precision engineering. This paper presents an inventory of platforms suitable for the design of a 6 DoF compliant stage for precision engineering. A literature review on 3-6 DoF compliant stages, static balancing strategies and statically balanced compliant mechanisms (SBCMs) has been performed. A classification from the inventory has been made and followed up by discussion. An obviously superior architecture for a 6 DoF compliant stage was not found. All the 6 DoF stages are either non-statically balanced compliant structures or statically balanced non-compliant structures. The statically balanced non-compliant structures can be transformed into compliant structures using lumped compliance, while all SBCMs had distributed compliance. A 6 DoF SBCS is a great scope for improvements in precision engineering stages.

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Section: State Of the Art In 6 Dof Compliant Stagesmentioning

confidence: 99%

Section: Spatial Compliant Stagesmentioning

confidence: 99%

Section: Spatial Compliant Stagesmentioning

confidence: 99%

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Review Article: Inventory of platforms towards the design of a statically balanced six degrees of freedom compliant precision stage

2011

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“…Here, an inertial coordinate system N-frame, N In studying the optimal architecture of a reconfigurable parallel robot for maximum dynamic wrench capability, an appropriate inverse dynamics form is required. In comparing with other formatting algorithms for the dynamic equations of parallel robots, several methods such as the Newton-Euler formulation [12][13][14], virtual work principle [15,16], Kane's method [17], kinematic influence coefficient theory [18], screw theory [19], and the Lagrangian formulation in generalized coordinates [20][21][22] are proposed to model and simulate the dynamics of parallel manipulators. However, these expressions are not structured enough, and are not appropriate for the dynamic wrench capability analysis.…”

Section: Dynamics Of the Stewart-platform Robot With Sliding Lockablementioning

confidence: 99%

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Lin

Chen

2016

Applied Sciences

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Abstract:In this paper, a Stewart-platform robot with sliding lockable base joints is proposed for reconfiguration, and it addresses the determination of the optimal configuration for the prescribed motion with maximum allowable dynamic wrench capability subject to the constraints imposed by the kinematics and dynamics of the proposed reconfigurable architecture. The numerical results from the hierarchical optimization process allow us to investigate the effects of the base point locations on the maximum dynamic wrench capability. The effectiveness of the proposed algorithm is demonstrated in the improvement of the maximum allowable dynamic wrench capability of the reconfigurable Stewart-platform robot.

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“…Furthermore, it is necessary for the system to be dynamically analyzed and modeled (Wang et al 2003). To reach this goal, it is essential to use forward and inverse kinematics (Karlik & Aydin 2000).…”

mentioning

confidence: 99%

Kinematics Analysis and Simulation of A 5DOF Articulated Robotic Arm Applied to Heavy Products Harvesting

Roshanianfard

Noguchi

2018

Tarım Bilimleri Dergisi

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Robotics can play a significant role to increase efficiency and lighten the farmer's load. Despite challenges in the agricultural robotic designs, robots are capable of performing various tasks and changing themselves accordingly, based on specific conditions. To address modern problems in the agricultural field, an agricultural robot is one of the key technologies. Although agricultural robotic is still in the development stage, robots have a bright future ahead. This paper proposes a new 5DOF articulated robotic arm design that would become a solution for heavy crop harvestings like pumpkin and cabbage. After the development stage, this robotic arm will be mounted on a robot tractor for real experimentation.The main design process of this robotic arm was conceived using 6 stages of Shigley design process. All components were designed, assembled and analyzed by using Solidworks 2014 in compliance with Japanese Industrial Standards (JIS) standards. The parts of the system that had dynamic nature were analyzed manually using standard mechanical formulas. Calculations of the workspace required joint torque, and coordination of mass center position was done by using standard machine design methods. Denavit-Hartenberg method was used to calculate forward and inverse kinematics. To resolve the torque reduction, components were designed using different materials and mass centers and comparing their performance.Results showed that total torque in Joints number 1, 2, 3, 4 and 5 were 6.15, 257.35, 103.4, 20.2 and 0.1 respectively with a rotational speed range of 15 ~ 60 rpm. Changes in the linkage material and servo motor location improved 29.7% ~ 47.7% and 29.7% ~ 68.9% of the total required torque for each joint. The maximum distance covered by the arm was 1421 mm from the and 2026 mm from the attachment point. According to the feedback received from a inverse kinematics equation algorithm, the fundamental operation of the robot arm had an optimal performance.

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Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints

Cited by 55 publications

References 11 publications

Review Article: Inventory of platforms towards the design of a statically balanced six degrees of freedom compliant precision stage

Review Article: Inventory of platforms towards the design of a statically balanced six degrees of freedom compliant precision stage

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Kinematics Analysis and Simulation of A 5DOF Articulated Robotic Arm Applied to Heavy Products Harvesting

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