Mechanism Design and Motion Planning of Parallel-Chain Nonholonomic Manipulator

Li, L.

doi:10.2507/ijsimm17(2)co7

Cited by 5 publications

(8 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This reduction can be achieved by using materials with high strength to weight ratios, use of advanced kinematical structures and minimizing the cross sections of all critical elements [6]. Li [8] has utilized non-holonomic theory to develop a four joint parallel chain manipulator that can be driven by using two motors thus reducing the actuator load.…”

Section: Introductionmentioning

confidence: 99%

Design and Optimization of 6-DOF Platform Top Plate under Realistic Joint Conditions

Bhatti¹,

Bashmal²,

Khan³

et al. 2020

Int. j. simul. model.

View full text Add to dashboard Cite

In this work, an FEA based methodology is proposed for the accurate prediction of stiffness properties of top plate of special application 6-DOF platform. The effect of joint contact conditions on the static stiffness and natural frequency of the top plate is analysed and compared with experimental results. Top plate is first designed using a simplified finite element model where the joint contact is considered to be rigid. The design failed to meet the actual operating conditions when tested experimentally. The design is revised using actual loading conditions and introducing realistic joint contact formulation. The results obtained are in close agreement with experimental data. Based on the developed methodology, a Multi-Objective Genetic Algorithm (MOGA) based optimization study has been carried out to reach an optimum design meeting the desired performance with a minimum possible weight. Both size and shape of the top plate has been optimized and weight reduction of 5.08 % has been achieved using the shape optimization. The performance parameters of final design of top plate differ by only 1.43 % for static stiffness and 0.44 % for modal response when compared with the experimental results.

show abstract

Section: Introductionmentioning

confidence: 99%

Design and Optimization of 6-DOF Platform Top Plate under Realistic Joint Conditions

Bhatti¹,

Bashmal²,

Khan³

et al. 2020

Int. j. simul. model.

View full text Add to dashboard Cite

show abstract

“…The approach to compute a reachable workspace for the Delta robot is given in [6]. Path planning based on mapping the path to the joint space where the polynomial input method has adopted, is proposed in [9] providing the ability of the control all variables as well as moving to the target configuration along a smooth trajectory.…”

Section: Introductionmentioning

confidence: 99%

“…In [9], it has proved that all joints of the parallel manipulator system can move stably and accurately from initial to the target configuration within the specified time.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development of Dynamic Model of Robot with Parallel Structure Based on 3D CAD Model

Damić¹,

Cohodar²,

Kobilica³

2019

DAAAM Proceedings

View full text Add to dashboard Cite

Investigation of behaviour of parallel robot attracts the attention of researchers around the world. The main features of parallel robots are high precision and accuracy, work with high speed and large payload that make these robots capable of fast picking applications in agriculture, food and pharmaceutical industry, medicine etc. The most common limitation of the parallel robot is small workspace. Development of dynamic model of parallel robot based on its 3D CAD assembly is explained in the paper. Dynamic model of robot manipulator of ABB IRB 360 is automatically generated by importing of 3D CAD assembly from SolidWorks to Simulink programming environment. The obtained model can serve as a research platform to define task in joint or operational workspace, to investigate different control strategies, planning trajectories etc.

show abstract

“…Alam et al [22] addressed the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a directcurrent geared motor. Li [23] proposed a parallel-chain nonholonomic manipulator with a chainable kinetics model. The manipulator could move to the target configuration within the specified time was proved by two simulation experiments.…”

Section: Introductionmentioning

confidence: 99%

Design and Performance Analysis of Airbag-Soft-Manipulator According to Characteristic Parameters

Liu

Wang

et al. 2019

SV-JME

View full text Add to dashboard Cite

Manipulators are increasingly used in mechanical manufacturing due to the needs of industrial automation. The shortcomings of traditional manipulators, such as those in relation to their flexibility, interactivity, and safety, lead to certain limitations in their application for variable shapes and fragile objects. Given the above shortcomings of traditional manipulators, this research analysed a friction-enhanced multi-airbag soft manipulator and its performance. Analysis results of characteristic parameters show that the structure of the airbag soft manipulator is optimized, and the structural design and manufacture of the soft manipulator are completed. Deformation of the manipulator base material is described by the Neo-Hooke strain energy function, and the strain energy function coefficient is derived by obtaining the characteristic parameters of the material through tensile experiments. Finite element analysis of the manipulator is performed according to the determined strain energy function. The influence of the characteristic parameters on the mechanical bending of the manipulator is studied. Theoretical analysis proves the validity of the finite element analysis. The structural parameters of the manipulator are finally determined according to the simulation analysis results. The control system is designed according to the driving method and working mode of the soft manipulator to perform the soft manipulator grasp experiment. The manipulator can lift a weight of 300 g, thereby indicating that the soft manipulator designed in this paper has a good application effect and prospects.

show abstract

Mechanism Design and Motion Planning of Parallel-Chain Nonholonomic Manipulator

Cited by 5 publications

References 0 publications

Design and Optimization of 6-DOF Platform Top Plate under Realistic Joint Conditions

Design and Optimization of 6-DOF Platform Top Plate under Realistic Joint Conditions

Development of Dynamic Model of Robot with Parallel Structure Based on 3D CAD Model

Design and Performance Analysis of Airbag-Soft-Manipulator According to Characteristic Parameters

Contact Info

Product

Resources

About