Kinematics simulation and analysis of 3-RPS parallel robot on SimMechanics

Yu, Lei; Zhang, Lixun; Zhang, Nan; Yang, Shuo; Wang, Daoming

doi:10.1109/icinfa.2010.5512065

Cited by 13 publications

(5 citation statements)

References 7 publications

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“…5 shows various Bishop frames (O k+1 , N 1,k+1 , N 2,k+1 , T k+1 ) along the central curve. Expression of the homogeneous transformation is given by equation (6) and obtained in function of the vector (4) and the rotation matrix (5). the vector t ∈ R 3 : t = t(s), where s is a variable parameter representing the length when crossing the curve.…”

Section: B Ikm Synthesismentioning

confidence: 99%

“…In some contributions, the authors use the principle of hybrid serial-parallel robots to designs or reconstruct the behavior of continuum robots [4]. For these parallel structures' design, the inverse kinematic modeling has been addressed in several references [5], [6]... Whereas in a flexible structure, IKM-based on one bending section with space configuration has been proposed in [7].…”

Section: Introductionmentioning

confidence: 99%

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Inverse Kinematic modeling of a class of continuum bionic handling arm

Lakhal¹,

Melingui²,

Chibani³

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper presents a development of Inverse Kinematic Model (IKM) of a class of Continuum Bionic Handling Arm (CBHA). The modeling approach is inspired from a model of a hyper-redundant backbone-based manipulator, combined with an optimal placement of the backbones. The latter is obtained using an optimization algorithm, based on a Sequential Quadratic Program (SQP). The main interest of developing such model is to design an autonomous control of the CBHA. The high number of Degrees of Freedom (DoF) present on the continuum structure of the CBHA, makes difficult the synthesis of the analytical IKM for the overall arm. To resolve this issue, it is proposed to assimilate the CBHA's behavior to that of a hyper-redundant robot manipulator. This robot is represented by a concatenation of hybrid (parallel and serial) vertebrae along the vertebral column or backbones of the CBHA. The combination of all these vertebra allows the reconstruction with optimal configuration of the real posture of the continuum arm inside its workspace, with only the knowledge of the Cartesian coordinates of the robot pose. Simulations and experimental validation of the model demonstrate the efficiency of the modeling approach for this class of CBHA.

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Section: B Ikm Synthesismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Inverse Kinematic modeling of a class of continuum bionic handling arm

Lakhal¹,

Melingui²,

Chibani³

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…The 3-RPS parallel robots, proposed by other authors, have the actuators oriented to the center. 18 –23 However, there is a similar robot proposed by Li et al, 24 which consists of a base and a moving platform connected by two identical revolute–prismatic–universal limbs and one spherical–prismatic–revolute limb.…”

Section: System Descriptionmentioning

confidence: 99%

Dynamic analysis and control of a three-revolute–prismatic–spherical parallel robot by algebraic parameters identification

Ruiz-Hidalgo

Ortega

Pliego

et al. 2019

International Journal of Advanced Robotic Systems

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The inverse dynamic model of a three-revolute-prismatic-spherical parallel robot based on Lagrange method is presented. This parallel robot presents a different configuration in the orientation of the actuators of the already reported in the literature. The dynamic model is validated by simulations obtained with a virtual prototype under MSC Automatic Dynamic Analysis of Mechanical Systems environment. For positioning the moving platform in a desired orientation, a proportional-integral-derivative-type controller is implemented for trajectory tracking using the dynamic of the actuators. In this dynamic, the load supported is unknown, that is, due to the inclination of the moving platform, the weight is not evenly distributed. Algebraic identification of parameters is implemented in order to know the load and improve the response in the orientation of the moving platform. Some simulations were performed with the virtual prototype in cosimulation environment under MSC Automatic Dynamic Analysis of Mechanical Systems/View and MATLAB/Simulink to verify the performance of the proportional-integral-derivative controller using the algebraic parameters identification.

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“…The modelling and simulation of mechanical and electromechanical systems were done using SimMechanics, and performance was analysed by eminent authors. [34][35][36][37][38][39][40] The synergic combination SolidWorks and MATLAB Simulink/SimMechanics was utilised for modelling and simulation of lower extremity exoskeleton for rehabilitation. The dynamic and kinematic parameters are identified and also the stability analysis enables the robots structural modification with great ease.…”

Section: Introductionmentioning

confidence: 99%

Influence of CNT-based Nanocomposites in Dynamic Performance of Redundant Articulated Robot

Mohan¹,

Kumar²

2020

Robotica

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SUMMARY In this study, AA5083-reinforced multiwalled carbon nanotubes (MWCNT) nanocomposites were selected as the alternate material for a redundant articulated robot (RAR) design by varying the composition of MWCNT wt%. By assigning AA5083-reinforced MWCNT as a custom material to the parts of RAR developed by Solid Works and exported to MATLAB/SimMechanics platform to convert the model into multi-body system blocks. The dynamic parameter torque was observed utilising simulation capability in a SimMechanics second-generation environment. The simulation results inferred that AA5083 reinforced with increased wt% of MWCNT has better properties suitable for RAR design.

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Kinematics simulation and analysis of 3-RPS parallel robot on SimMechanics

Cited by 13 publications

References 7 publications

Inverse Kinematic modeling of a class of continuum bionic handling arm

Inverse Kinematic modeling of a class of continuum bionic handling arm

Dynamic analysis and control of a three-revolute–prismatic–spherical parallel robot by algebraic parameters identification

Influence of CNT-based Nanocomposites in Dynamic Performance of Redundant Articulated Robot

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