Kinematics of an offset 3-UPU translational parallel manipulator by the homotopy continuation method

Varedi, S. M.; Daniali, Hamidreza Mohammadi; Ganji, D.D.

doi:10.1016/j.nonrwa.2008.02.014

Cited by 42 publications

(22 citation statements)

References 13 publications

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“…Screw theory is introduced to describe the constraints in single kinematic branch, and then all branch constraints are synthesized to calculate the corresponding degrees of freedom according to equation (2). A screw can be expressed as equation (3). All the components of a screw is shown in Figure 3 $…”

Section: The Dof Of 2pc-cpr Parallel Mechanismmentioning

confidence: 99%

Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

Lin

Wang

Chun

et al. 2016

International Journal of Advanced Robotic Systems

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A novel parallel mechanism of two translations and one rotation freedom degrees two-prismatic joint-cylindrical jointone-cylindrical joint-prismatic joint-revolute joint (2PC-CPR) is proposed. The mechanism can be applied to write Chinese characters and to classify productions with the appropriated control. In this article, the kinematics and dynamics analysis are systematically conducted with the following procedure. First of all, the 2PC-CPR parallel mechanism is designed by G F set and the freedom degree of the mechanism is calculated using screw theory. Then the formula for solving the inverse/forward displacement, velocity, and acceleration is derived based on the geometrical constraints. The dynamics model is established by using virtual work principle. Finally, kinematics SimMechanics model is created by the co-simulation of SolidWorks and MATLAB software, and its workspace is analyzed.

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Section: The Dof Of 2pc-cpr Parallel Mechanismmentioning

confidence: 99%

Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

Lin

Wang

Chun

et al. 2016

International Journal of Advanced Robotic Systems

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“…It has a closed-loop structure and it has a symmetrical mechanism composed of three kinematical chains of variable length, all connecting the base to the moving platform (S.M. Varedi et al 2009).The universal joints are passive and only the three prismatic joints are actuated (A.-H. Chebbi et al (2009). We can consider the passive universal joint as two revolute joints with concurrent axes.…”

Section: Structure Of the 3-upu Robotmentioning

confidence: 99%

Reduced Inverse Dynamic Model of Parallel Manipulators Based on the Lagrangian Formalism

Hraiech

Houidi

Affi

et al. 2015

Design and Modeling of Mechanical Systems - II

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Abstract. This paper deals with the dynamic modeling of the 3-UPU parallel robot based on the Lagrangian formalism. The reduced inverse dynamic model gives the actuators forces as function of only the active variables and the manipulator load. The closed loops equations are used in order to eliminate the passive coordinates from the equations of motion as well as the Lagrange multipliers. This type of model can be useful for the control of parallel robots.

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“…So these nonlinear simultaneous equations should be solved using other methods, namely, numerical or semiexact analytical methods. Some others believe that the combination of numerical and semiexact analytical methods can also produce useful results (Hashemi et al, 2007;Varedi et al, 2009). Choi et al solved forward kinematic problem of H4 and showed that the problem lead to a 16th degree polynomial in a single variable (Choi et al, 2003).…”

Section: Forward Kinematicsmentioning

confidence: 99%