Kinematics and Workspace Analyses of 3/3-RRRS Parallel Manipulator

Liu, Meng Si; Cao, Yi; Zhang, Qiu Ju; Gosselin, Clément; Sun, Jian; Li, Bao Kun

doi:10.4028/www.scientific.net/amm.155-156.1090

Cited by 3 publications

(1 citation statement)

References 6 publications

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“…The parallel structure is different from the usual three-legged 6-DOF parallel mechanisms: 3- R R P S chains, 42 3- RP SR chains, 43 3- RP RS chains, 44 3- P R P S chains, 45 3-3- PP SR chains, 46 3- PP SP chains, 47 and 3-RRRS chains. 48 And it is also different from the common six-legged 6-DOF parallel mechanisms: 6-S P S chains 2 (this type of mechanisms is usually called a Stewart platform), 6-U P S chains 49 (this type of mechanisms is the most frequently used in applications, and is usually called as a Gough platform or a Hexapod), 6- P US chains 50 (the first example of such architecture), 6- R US chains 51,52 (this type of chain was first presented by Hunt), 6-U C U chains, 53 6-RR C RR chains, 31,32,54 6- P FF chains, 34 and other 6-DOF parallel platform with miscellaneous chains. 55–57…”

Section: Introductionmentioning

confidence: 99%

Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints

Han

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a novel six-degree-of-freedom (6-DOF) parallel platform that is used as the third mirror adjustment system of a large space telescope. In order to meet the design requirements of high precision, a large load–size ratio, and high stiffness in both the transverse and the vertical directions, the parallel platform is designed to be a 6-P-RR-R-RR structure via use of offset RR-joints. The inverse kinematics problem of the designed platform with offset RR-joints is much more complicated than that of a parallel platform with common universal joints owing to the presence of joint-dependent variables in the former problem. In this study, inverse kinematics of the designed parallel platform is mathematically modeled and the Newton–Raphson numerical iterative computation is performed. The accuracy and effectiveness of the proposed mathematical approach are verified by numerical co-simulations using MATLAB and ADAMS. The initial position of the platform is determined by a precision measuring arm. A test system is constructed, and then inverse kinematics solution, resolutions and adjusting steps accuracies of the platform are tested using grating length gauges. Motion strokes of the parallel mechanism are measured using laser tracker.

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Section: Introductionmentioning

confidence: 99%

Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints

Han

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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A new six degree-of-freedom parallel robot with three limbs for high-speed operations

Meng

Cao

Ding

et al. 2022

Mechanism and Machine Theory

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Forward kinematic analysis of a 3-RRRS mechanism with subordinate driving variables using a computer-aided geometric method

Wang

Meng

et al. 2019

International Journal of Advanced Robotic Systems

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The 3-RRRS mechanism (RRRS refers to kinematic pairs of a branched chain consisting of three R pairs (Rotational pairs) and one S pair (Spherical pair), successively) is used between a moving platform and a static platform, through which six-dimensional motion of the moving platform relative to the static platform can be achieved. Selecting six independently drivable joints from nine active joints makes it problematic to deal analytically with the kinematics of the 3-RRRS mechanism. In this article, a novel computer-aided geometric method for kinematic analysis is developed. This method can automatically detect the independently drivable joints for arbitrary kinematic chains. This method can be easily implemented compared to the analytical method of the forward kinematics. Based on the constraint relationship of the 3-RRRS mechanism, a general 3-RRRS mechanism digital model is built in the SolidWorks Application Program Interface embedded Visual Basic environment, in which the platform sizes and active driving angles are driven by the parameterized model, to make the moving platform move to the corresponding pose. After the pose of the moving platform is confirmed, the coordinate system is built in a preliminary sketch. The parameters are measured by the SolidWorks measuring functions, and the pose of the moving platform is obtained by combining homogeneous matrices. Using the computer-aided geometric method, the detailed kinematics formula is not required. The accuracy and efficiency of the computer-aided geometric method were assessed with some examples of kinematic analysis for the 3-RRRS mechanism. The results showed that the proposed method obtained competitive precision and calculation time to the analytical method and is beneficial as a convenient solving process. By using Visual Basic programming, a reachable poses analysis of the mechanism can be merged into the kinematics analysis system of the computer-aided geometric method. The computer-aided geometric method could be widely applied to kinematics analysis of mechanisms.

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Kinematics and Workspace Analyses of 3/3-RRRS Parallel Manipulator

Cited by 3 publications

References 6 publications

Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints

Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints

A new six degree-of-freedom parallel robot with three limbs for high-speed operations

Forward kinematic analysis of a 3-RRRS mechanism with subordinate driving variables using a computer-aided geometric method

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