Kinematics and workspace analysis of a parallel wire mechanism for measuring a robot pose

Jeong, Jae Won; Kim, Soo Hyun; Kwak, Yoon Keun

doi:10.1016/s0094-114x(98)00080-9

Cited by 70 publications

(39 citation statements)

References 8 publications

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“…They can be modelled as six-degree-of-freedom parallel manipulators because wires can be seen as extensible legs connecting the platform and the base by means of spherical and universal joints, respectively. One of these wire mechanisms was used in (Jeong et al, 1999) for robot pose, i.e. position and orientation, measurements.…”

Section: Introductionmentioning

confidence: 99%

“…Wire length uncertainties are due, among other factors, to deflections caused by wire self-weights and to discretization errors in the transducers. A way to compensate the self-weight deflections is presented in (Jeong et al, 1999). Joint clearances are due to the uncertainty related to the position of the wires with respect to the corresponding joint holes on the base.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Thomas

Ottaviano

Ros

et al. 2002

Advances in Robot Kinematics

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This paper presents an ellipsoidal set-membership uncertainty model for wire-based tracking systems with wire length uncertainties and joint clearances. Although the proposed model is valid for any number of wires and configurations, including singularities, it has been particularized to a 3-2-1 parallel wire mechanism. The Euler's tetrahedron formula has been used to obtain a numerically stable solution to the direct kinematics of this particular tracking system as well as a compact characterization of its singularities directly expressed in terms of the wire lengths. It is also shown that these singularities, when expressed in the configuration space of the moving element, can be identified as C-surfaces associated with the three basic contacts between polyhedra, which have been widely studied in the context of path planning.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Thomas

Ottaviano

Ros

et al. 2002

Advances in Robot Kinematics

View full text Add to dashboard Cite

show abstract

“…Many scholars have developed different approaches and algorithms to investigate the features of workspace, especially its volume [15][16][17][18][19][20][21][22][23][24][25][26][27]. In [15], the joint workspace of a parallel kinematic machine (PKM) was calculated using the forward kinematic model.…”

Section: Introductionmentioning

confidence: 99%

Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom

Gao

Zhang

2011

Sustainability

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Abstract:The development of a new parallel mechanism based on simulation driven design is a rapid approach to discover the unique features or advantages of a conceptual model. In this research, one novel parallel mechanism which can generate three degrees-of-freedom translations is proposed. The kinematic model and Jacobian matrix is derived. The workspace generation and mapping is investigated based on simplified boundary searching method. The particle swarm algorithm is applied to search for the optimal volume of workspace.

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“…Some techniques for specific errors have already been proposed in the literature. For example, a method for compensating the cable guide outlet shape of wire encoders is detailed in Geng and Haynes, 1994, and a method for compensating the deflections caused by wire self-weights is described in Jeong et al, 1999. In this paper, we will only consider wire-length errors which cannot be compensated because of their random nature.…”

Section: Introductionmentioning

confidence: 99%

“…The main two configurations used for wire-based tracking devices: (a) the "3-2-1", (b) the "2-2-2", and (c) the proposed tracking device, with (d) the rotating base in Thomas et al, 2005. The 2-2-2 configuration was first proposed in Jeong et al, 1999 for a wire-based tracking device. The kinematics of this configuration was studied, for example, in Griffis and Duffy, 1989, and Parenti-Castelli and Innocenti, 1990 where it was shown that its forward kinematics has 16 solutions.…”

Section: Introductionmentioning

confidence: 99%

Wire-based tracking using mutual information

Andrade‐Cetto¹,

Thomas

Advances in Robot Kinematics

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Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the tracked trajectory. One important shortcoming of this kind of devices is that they are forced to operate in reduced workspaces so as to avoid singular configurations. Singularities can be eliminated by adding more wires but this causes more wire interferences, and a higher force exerted on the moving object by the measuring device itself. This paper shows how, by introducing a rotating base, the number of wires can be reduced to three, and singularities can be avoided by using an active sensing strategy. This also permits reducing wire interference problems and the pulling force exerted by the device. The proposed sensing strategy minimizes the uncertainty in the location of the platform. Candidate motions of the rotating base are compared selected automatically based on mutual information scores.

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Kinematics and workspace analysis of a parallel wire mechanism for measuring a robot pose

Cited by 70 publications

References 8 publications

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom

Wire-based tracking using mutual information

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