Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot

Chebbi, A. H.; Affi, Zouhaier; Romdhane, Lotfi

doi:10.1007/978-3-642-01947-0_8

Cited by 3 publications

(4 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Using equations ( 7) and (10), and anti-commutative property of cross-product, these linear velocities may be written as a function of ẋ as follow:…”

Section: Linear Velocitymentioning

confidence: 99%

See 1 more Smart Citation

Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

et al. 2022

View full text Add to dashboard Cite

Optimal mechanical design, model-based control, and robot dynamic calibration mainly rely on the analytical formulation of robot dynamics. In this paper, the kinematics equations of a general 3-UPU translational parallel manipulator (TPM) are derived, and then, by using the principle of the virtual work theorem, the full implicit dynamic model is derived. Furthermore, by making some modifications, the explicit dynamic formulation of the robot is attained, which is the basis of a wide range of advanced model-based controllers. To validate the proposed formulation, a prototype of the 3-UPU TPM is modeled in MSC-ADAMS® software, and the results of the dynamic formulation are validated using this model. The results show the high accuracy of the proposed dynamic formulation presented in this article.

show abstract

“…Using equations ( 7) and (10), and anti-commutative property of cross-product, these linear velocities may be written as a function of ẋ as follow:…”

Section: Linear Velocitymentioning

confidence: 99%

“…The main features of this robot in terms of inverse and forward kinematic analysis, workspace analysis, and kinetostatic analysis are reported in refs. [8][9][10]. Moreover, the challenging issues in the design structure are discussed in refs.…”

Section: Introductionmentioning

confidence: 99%

Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

et al. 2022

View full text Add to dashboard Cite

show abstract

“…Although many researchers 15,16,22,26,27 have done some related analyses on the 3-UPU parallel mechanism, it is based on the following assumption:…”

Section: Unexpected Rotationsmentioning

confidence: 99%

“…Chebbi and Parenti-Castelli 26 collected the most relevant results on singularities and workspace of the 3-UPU parallel mechanism proposed by Tsai, and investigated the influence of some geometric parameters -especially the orientation of revolute axes and the locations of its legs -on the singularity loci and workspace size. Chebbi et al 27 studied the singularity based on the kinetostatic of the 3-UPU parallel mechanism. Gan et al 28 designed a new metamorphic parallel mechanism by changing the universal joint to the reconfigurable joint in the general 3-UPU parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

A novel 4-UPU translational parallel mechanism with fault-tolerant configurations

Fang

Guo

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

This paper aims at designing a pure translational parallel mechanism constructed by UPU (universal-prismatic-universal joint) kinematic limbs. First, the typical problem of unexpected rotations is pointed out from analyzing the typical 3-UPU parallel mechanism, and the reason for unexpected rotations of parallel mechanism constructed by UPU kinematic limbs is analyzed. Then, in order to design a pure translational parallel mechanism constructed by UPU without the unexpected rotations, the 2-UPU single loop is chosen as the basic structure to construct the 4-UPU translational parallel mechanism. Each 2-UPU single loop can be used to constrain a rotation about an axis of the linear complexes, which defined the unexpected rotations. Therefore, a novel type of 4-UPU pure translational parallel mechanism with redundant actuations is proposed. Since the existence of redundantly actuated kinematic limb, this proposed parallel mechanism possesses analytical forward kinematics, and its singularity can be avoided completely. Finally, the workspace and fault-tolerant performance are analyzed. When the proposed 4-UPU parallel mechanism is located in a fault-tolerant configuration, the moving platform can still possess movable ability to realize the given task even if one kinematic limb is in locked-joint failure mode, and the fault-tolerant workspace is obtained.

show abstract

Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Fang

Guo

2012

Front. Mech. Eng.

View full text Add to dashboard Cite

Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot

Cited by 3 publications

References 7 publications

Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

A novel 4-UPU translational parallel mechanism with fault-tolerant configurations

Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Contact Info

Product

Resources

About