New Structural Representation and Digital-Analysis Platform for Symmetrical Parallel Mechanisms

Cao, Wen-ao; Ding, Huafeng; Zi, Bin; Chen, Ziming

doi:10.5772/56380

Cited by 48 publications

(36 citation statements)

References 28 publications

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“…1 and are discussed in more detail in the following paragraphs. The classification scheme is based on (Bleicher 2003;Cao et al 2013;Corves and Müller 2013;Haun 2007;Naval 1989; R€ ose 2011) and on analyses of existing mechanisms. To show the differences between a classical robot and a micromanipulator, those parts of the classification which are relevant for micromanipulators are highlighted.…”

Section: Classification According To Design and Kinematicsmentioning

confidence: 99%

Microactuators and Micromechanisms

Zentner¹,

Corves²,

Jensen³

et al. 2015

Mechanisms and Machine Science

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Section: Classification According To Design and Kinematicsmentioning

confidence: 99%

Microactuators and Micromechanisms

Zentner¹,

Corves²,

Jensen³

et al. 2015

Mechanisms and Machine Science

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“…Being a simple, common manipulator, he is also a good teaching example, much used in the student courses of mechanics, mechanisms, robotics-mechatronics (Antonescu and Petrescu, 1985;1989;Antonescu et al, 1985a-b;1986;1987;1988;1994;1997;2001;Aversa et al, 2017a-e;2016a-o;Berto et al, 2016a-d;Cao et al, 2013;Dong et al, 2013;Comanescu, 2010;Franklin, 1930;He et al, 2013;Lee, 2013;Lin et al, 2013;Liu et al, 2013;Mirsayar et al, 2017;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;Petrescu, 2011;2015a-b;Petrescu and Petrescu, 1995a-b;1997a-c;2000a-b;2002a-b;2003;2005a-e;2011;2012a-b;2013a-b;2016a-c;Petrescu et al, 2009;2016;2017a-l).…”

Section: Methodsmentioning

confidence: 99%

Geometry and Determining the Positions of a Plan Transporter Manipulator

Petrescu¹,

Aversa²,

Apicella³

et al. 2017

Journal of Mechatronics and Robotics

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Abstract:The conveyor mechanism (working in a plan) to be presented in this study is a classic case of manipulating conveyor, simply with a single degree of mobility. It is a very common mechanism used in classical mechanics, being encountered at lifting platforms, at handicapped chairs, at cranes, forklifts, automatic machines and machines, or at older steam locomotives where it having the role of reversing the rotation-translation movement. Being a simple, common manipulator, he is also a good teaching example, much used in the student courses of mechanics, mechanisms, robotics-mechatronics. That is why we want to present in this study in a concise way the geometry and the kinematics of this mechanism. There will be a constructive and one kinematic scheme. The mechanism consists of a crank (a motor element 1), an RRR dyad composed of elements 2 and 3 and an RRT dyad formed by kinematic elements 4 and 5. The motor element 1 has a complete rotation (360 degrees) being the single driving feature of the entire mechanism. The element 3 is a bar that links the engine element 1 to the rocker element 2. From the rocker element 2, the movement is forwarded through the rod 4 to the final execution member 5, which is a slider (patina), having the role of oscillating linearly (it can also be a piston in a cylinder). The mechanism can also be used by changing the driving element to the driven one so as to become a motor mechanism with the leading element 5 and when the rotation element 1 to become a final driven element. Thus it can be used as a mechanism for producing the movement and transmitting it with the conversion from the rotation to translation movement. We intend to present this mechanism, in the present paper, when it functions as a manipulator, having the motor element 1 and the final element, the execution element, the patina 5. Special emphasis will be placed on the kinematics of the mechanism, studied on elements, but also on structural groups. Obviously there will be presented and some applications of the mechanism.

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“…This results in a "forced" drive balancing from the transmission, which makes the operation of the assembly to be correct but rigid and with mechanical shocks. Such balancing is not possible when the actuators directly actuate the elements of the kinematic chain without using mechanical reducers (Antonescu and Petrescu, 1985;1989;Antonescu et al, 1985a;1985b;1986;1987;1988;1994;1997;2001;Aversa et al, 2017a;2016e;2016f;2016g;2016h;2016i;2016j;2016k;2016l;2016m;2016n;2016o;Berto et al, 2016a;Cao et al, 2013;Dong et al, 2013;Comanescu, 2010;Franklin, 1930;He et al, 2013;Lee, 2013;Lin et al, 2013;Liu et al, 2013;Mirsayar et al, 2017;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;Petrescu, 2011;2015a;2015b;Petrescu and Petrescu, 1995a;1995b;1997a;1997b;1997c;2002a;2002b;…”

Section: Introductionmentioning

confidence: 99%

The Dynamics of the Planar Cinematic Balanced Chain at the Plan Module 3R

Petrescu

Aversa

Apicella

et al. 2018

Journal of Mechatronics and Robotics

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In some previous papers, the mechatronic module 3R, plan, is a basic module on which the complete, geometric, cinematic, dynamic calculation of the anthropomorphic robots, the most used today's industrial robots, is built. The importance of the study of anthropomorphic robots has also been signaled, being today the most widespread robots worldwide, due to its simple design, construction, implementation, operation and maintenance. In addition, anthropomorphic systems are simpler from a technological and cheaper point of view, performing a continuous, demanding, repetitive work without any major maintenance problems. The basic module of these robots was also presented geometrically, cinematically, of the forces, of its total static balancing and of the forces that arise within or after balancing. In the present paper, we want to highlight the dynamics of the already statically balanced total module. It has been presented in other works and studied matrix spatially, or more simply in a plan, but in this case, it is necessary to move from the working plane to the real space, or vice versa, passage that we will present in this study. In the basic plan module already presented in other geometric and cinematic works, we want to highlight some dynamic features such as static balancing, total balancing and determination of the strength of the module after balancing. Through a total static balancing, balancing the gravitational forces and moments generated by the forces of gravity is achieved, balancing the forces of inertia and the moments (couples) generated by the presence of inertial forces (not to be confused with the inertial moments of the mechanism, which appear separately from the other forces, being part of the inertial torsion of a mechanism and depending on both the inertial masses of the mechanism and its angular accelerations. Balancing the mechanism can be done through various methods. Partial balancing is achieved almost in all cases where the actuators (electric drive motors) are fitted with a mechanical reduction, a mechanical transmission, a sprocket, spiral gear, spool screw type. This results in a "forced" drive balancing from the transmission, which makes the operation of the assembly to be correct but rigid and with mechanical shocks. Such balancing is not possible when the actuators directly actuate the elements of the kinematic chain without using mechanical reducers.

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New Structural Representation and Digital-Analysis Platform for Symmetrical Parallel Mechanisms

Cited by 48 publications

References 28 publications

Microactuators and Micromechanisms

Microactuators and Micromechanisms

Geometry and Determining the Positions of a Plan Transporter Manipulator

The Dynamics of the Planar Cinematic Balanced Chain at the Plan Module 3R

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