Linear dynamic modeling of parallel kinematic manipulators from observable kinematic elements

Özgür, Erol; Andreff, Nicolas; Martinet, Philippe

doi:10.1016/j.mechmachtheory.2013.05.002

Cited by 6 publications

(5 citation statements)

References 15 publications

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“…In addition, the proposed modeling method in ref. [28] was illustrated on a simple 2 degrees of freedom (DOF) ve-bar mechanism which is an RRR-RR structure planar parallel robot. Some discussion about the extension to a broad class of parallel mechanisms would have been more interesting, complete and generic.…”

Section: Introductionmentioning

confidence: 99%

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Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

2018

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SUMMARYThis paper deals with a generic modeling and vision-based control approach for a broad class of parallel mechanisms. First, a generic architecture representing several families is proposed. Second, inspired by the geometry of lines, a generic differential inverse kinematic model according to the proposed generic structure is introduced. Finally, based on the image projection of cylindrical legs, a kinematic vision-based control using legs observation is presented. The approach is illustrated and validated on the Gough–Stewart and Par4 parallel robots.

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Section: Introductionmentioning

confidence: 99%

“…The notion of a kinematic element is then fully formalized in ref. [28] and an interesting mathematical model of a kinematic element was given. The proposed method gives a linear dynamic modeling of parallel robot from observable kinematic elements.…”

Section: Introductionmentioning

confidence: 99%

Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

2018

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“…The dyadic decomposition method is an important subtype which is usually used to calculate kinematics of sample mechanisms. 1,2 Based on the dyadic decomposition method, the interpolation methods are generated. 3,4 Modular method is another subtype.…”

Section: Introductionmentioning

confidence: 99%

Bifurcation and stability analysis for 3SPS+1PS parallel hip joint manipulator based on unified theory

Wang

Yang

Chen

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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For a parallel hip joint manipulator, the unified kinematics and stiffness model are established based on a novel unified theory, and then the bifurcation and stability are analyzed under the same unified theory framework. In bifurcation analysis, a chaos method is first applied to solve the non-linear bifurcation equations in order to get the full configuration of the parallel hip joint manipulator, which improves the convergence rate and accuracy. Based on the full-configuration solution, the single-parameter and double-parameter simulation for the bifurcation and stability of the parallel hip joint manipulator is performed. The bifurcation simulation results show that the configuration only changes along the corresponding path but cannot change to other paths when the configuration of the parallel hip joint manipulator is at a certain path. The stability simulation results show that when the parallel hip joint manipulator enters into an uncontrolled domain of a bifurcation posture along different paths, the posture component which changes dramatically will lose control first, and the other posture components will move along the changed configuration. In this paper, the kinematics, stiffness, bifurcation and stability of the parallel hip joint manipulator are solved under the same theory framework, which improves the solving efficiency and enriches the mechanical theory for the parallel manipulators.

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“…It can be divided into different subgroups. The foremost subgroup comprises the dyadic decomposition methods which are useful to analyze some low complexity mechanisms [1,2]. The generalizations of these methods are known as interpolation procedures [3,4].…”

Section: Introductionmentioning

confidence: 99%

Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator

Wang

Yang

2015

Journal of Mechanisms and Robotics

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This paper presents a finite element method (FEM) for the kinematic solution of parallel manipulators (PMs), and this approach is applied to analyze the kinematics of a parallel hip joint manipulator (PHJM). The analysis and simulation results indicate that FEM can get accurate results of the kinematics of the PHJM, and the solution process shows that using FEM can solve nonlinear and linear kinematic problems in the same mathematical framework, which provides a theory base for establishing integrated model among different parameter models of the PHJM.

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Linear dynamic modeling of parallel kinematic manipulators from observable kinematic elements

Cited by 6 publications

References 15 publications

Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

Bifurcation and stability analysis for 3SPS+1PS parallel hip joint manipulator based on unified theory

Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator

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