Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Chen, Ziming; Chen, Xuechan; Gao, Min; Zhao, Chen; Zhao, Kun; Li, Yanwen

doi:10.1186/s10033-022-00702-7

Cited by 5 publications

(2 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Inverse kinematic problem (IKP) [42] is the premise for kinematic performance analysis and motion control of the parallel mechanism. The IKP of the P UU-2 P R(R P RR)S parallel mechanism is defined as follows: when the position and orientation of the moving platform (i.e.…”

Section: Kinematics Of the Parallel Mechanismmentioning

confidence: 99%

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

et al. 2023

View full text Add to dashboard Cite

This paper focuses on the design, analysis, and multi-objective optimization of a novel 5-degrees of freedom (DOF) double-driven parallel mechanism. A novel 5-DOF parallel mechanism with two double-driven branch chains is proposed, which can serve as a machine tool. By installing two actuators on one branch chain, the proposed parallel mechanism can achieve 5-DOF of the moving platform with only three branch chains. Afterwards, analytical solution for inverse kinematics is derived. The 5 $\times$ 5 homogeneous Jacobian matrix is obtained by transforming actuator velocities into linear velocities at three points on the moving platform. Meanwhile, the workspace, dexterity, and volume are analyzed based on the kinematic model. Ultimately, a stage-by-stage Pareto optimization method is proposed to solve the multi-objective optimization problem of this parallel mechanism. The optimization results show that the workspace, compactness, and dexterity of this mechanism can be improved efficiently.

show abstract

Section: Kinematics Of the Parallel Mechanismmentioning

confidence: 99%

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

et al. 2023

View full text Add to dashboard Cite

show abstract

“…Similarly, spherical trigonometry was used for the inverse and forward kinematics analysis of an eye surgery robot with spherical architecture [65]. In addition, the application of spherical trigonometry for similar problems was shown in [22], [25], [30], [75], and [76]. reviewed in [9].…”

Section: ) Inverse Kinematicsmentioning

confidence: 99%

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Feller

2023

IEEE Access

View full text Add to dashboard Cite

In this article, the solution to the inverse and forward kinematics of a novel three-legged, serialparallel, compliant robot are presented. The design of the robot aims to combine properties from serial and parallel architectures, thereby targeting an agile, yet precisely controllable robot that possibly allows both for dynamic locomotion and accurate manipulation tasks. The robot embodies the series connection of two parallel architectures, a planar and a spherical mechanism, realized in a highly dense mechanical assembly, allowing for lightweight, functionally redundant and compliant 4-DOF legs. A hybrid compliance behaviour is achieved, serving as a threshold between a stiff and compliant systemic state of the robot. Based on the mechanism design, the study involves the derivation of an alternative, yet complete solution for the inverse and forward kinematics of the spherical parallel manipulator (SPM). The approach utilizes spherical trigonometry and spatial vector geometry and yields a unique solution, while being both easy to implement and numerically efficient, thereby being applicable to real time implementations. Conceptually, a reduction of the mechanism assembly and working modes was directly integrated into the solution terms, drastically simplifying the expressions as they only represents the mechanically meaningful configuration relevant for actual physical systems. In addition to the active joint coordinates, the solution yields a unique set of all passively driven joints. The derived robot kinematics are furthermore verified through a 3D simulation model, showing the robot performing several motions. Thereby, the simulations portray the characteristics of the motor units by means of their corresponding phase profiles, revealing a balanced utilisation.INDEX TERMS Forward kinematics, inverse kinematics, legged robot, mechanical design, serial-parallel mechanism, spherical parallel manipulator.

show abstract

Kinematics Analysis of a New Parallel Mechanism with Complete Separation of Constraints and Drives

Qiu,

Wang,

et al. 2023

Lecture Notes in Computer Science

View full text Add to dashboard Cite

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Cited by 5 publications

References 29 publications

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Kinematics Analysis of a New Parallel Mechanism with Complete Separation of Constraints and Drives

Contact Info

Product

Resources

About