Kinematics and Singularity Analysis of a Parallel Manipulator with Three Rotational and One Translational DOFs

Zarkandi, Soheil

doi:10.1080/15397734.2011.559149

Cited by 24 publications

(9 citation statements)

References 7 publications

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“…The interest for parallel manipulators arises from the fact that they have better load-carrying capacity, better stiffness, and better precision than serial manipulators (Dasgupta and Mruthyunjaya, 2000;Gallardo-Alvarado et al, 2013;Vallés et al, 2012;Zarkandi, 2011). To design a parallel manipulator, the first step is to design the configuration for the manipulator, this is called the type synthesis (Gao et al, 2011;Korkmaz et al, 2012).…”

Section: Introductionmentioning

confidence: 99%

A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace

Cao¹,

Gao²,

Zhang³

et al. 2014

Mechanics Based Design of Structures and Machines

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This paper introduces a new 9-DOF motion simulator that consists of a 3-DOF parallel manipulator and a 6-DOF parallel manipulator. For the 6-DOF manipulator, a new '3-3'-PSS parallel mechanism and a new parameter design method for a given workspace are presented. With the kinematic study of this parallel mechanism and the method of Lagrange multipliers, we have found several key points that represent the worst performance of the manipulator within the given workspace. When a position workspace is given, by checking the manipulator's performances at these key points, one can quickly find out whether the manipulator with certain parameters meets the requirements within this workspace. Furthermore, several figures that can find the appropriate parameters are plotted. This key point method can make the design of parameters much quicker and easier for manipulators.

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Section: Introductionmentioning

confidence: 99%

A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace

Cao¹,

Gao²,

Zhang³

et al. 2014

Mechanics Based Design of Structures and Machines

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“…Bonev et al (2003) applied screw theory in the singularity analysis of 3-DOF planar PKMs. Other researches on singularity analysis can be found in the works of Amine et al (2012); Liu et al (2012); Zarkandi (2011); Fang et al 2012; Gan et al (2013); Wolf and Glozman (2011); Alici and Shirinzadeh (2004); Wang and Gosselin (1997); Romdhane et al (2002); Bandyopadhyay and Ghosal (2004); , and Kim and Chung (1999).…”

Section: Introductionmentioning

confidence: 99%

Architectural singularities of parallel mechanisms with prismatic joints due to special designs of platform shapes

Bai

2019

Mech. Sci.

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Abstract. Singularity is an inherent property of robotic manipulators. A manipulator becomes singular when it gains or losses degrees of freedom at a particular configuration. In this work, a type of singularities caused by special shapes of platforms, either the mobile or the base platform, is addressed. This type of singularities pertains to the architecture singularity, but associated only with special shape designs of base and mobile platforms and spans in the whole workspace, which is referred as shape singularity. The paper provides formulations of shape singularity. The geometry and algebra properties of shape singularity are analyzed. Three examples of shape singularity identification for parallel mechanisms with prismatic joints are included, one for 3-DOF planar mechanisms, the others for 3-DOF and 6-DOF spatial mechanisms. The application of shape singularity in adjustable compliance mechanism design is illustrated.

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“…Some scholars have proposed a subset of platforms with 4 DoF, mainly for flight simulation purpose, and with three rotational and one translation DOF (3R1T parallel manipulators). Nevertheless, the literature regarding 4 DoF PMs is limited compared with the series of 6, 3 and 2 DoF (Zarkandi, S. 2011).…”

Section: Introductionmentioning

confidence: 99%

Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

Vallés

Araujo-Gómez

Mata

et al. 2017

Mechanics Based Design of Structures and Machines

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Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4 DoF, but relatively few 4 DoF PMs have become prototypes, especially of the two rotation (2R) and two translation (2T) motion types. In this paper, we explain the mechatronics design, prototype and control architecture design of a 4 DoF PM with 2R2T motions. We chose to design a 4 DoF manipulator based on the motion needed to complete the tasks of lower limb rehabilitation. To the author's best knowledge, PMs between 3 and 6 DoF for rehabilitation of lower limb have not been proposed to date. The developed architecture enhances the three minimum DoF required by adding a 4 DoF which allows combinations of normal or tangential efforts in the joints, or torque acting on the knee. We put forward the inverse and forward displacement equations, describe the prototype, perform the experimental setup, and develop the hardware and control architecture. The tracking accuracy experiments from the proposed controller show that the manipulator can accomplish the required application.

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Kinematics and Singularity Analysis of a Parallel Manipulator with Three Rotational and One Translational DOFs

Cited by 24 publications

References 7 publications

A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace

A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace

Architectural singularities of parallel mechanisms with prismatic joints due to special designs of platform shapes

Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

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