Number Synthesis of Parallel Robotic Mechanisms

Meng, Xiangdun; Gao, Feng; Ge, Q. J.

doi:10.1080/15397734.2013.870044

Cited by 16 publications

(4 citation statements)

References 27 publications

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“…The motion accuracy abilities of the x-and y-directions are better than that of the z-direction. Generally, parallel mechanisms have better precision than manipulators (Cao et al, 2015; Meng et al, 2014). As mentioned earlier, this exoskeleton adopts a seriesparallel mechanism, where T-P and J-Q are series and I-G is parallel.…”

Section: Discussionmentioning

confidence: 97%

A New Study on the Relative Kinematic Accuracy Reliability of a Novel Exoskeleton with Series-Parallel Topology

Pan

Gao

Miao

et al. 2015

Mechanics Based Design of Structures and Machines

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An excellent exoskeleton worn by the operator might be able to move with a high degree of accuracy and repeatability. Based on the previous kinematic accuracy reliability model, this article proposes two new definitions of the relative kinematic accuracy reliability to investigate the motion accuracy ability of a novel exoskeleton with series-parallel topology thoroughly. According to the new definitions, the calculating results show that x-, y-, and z-directions of the exoskeleton end-effector have different motion accuracy abilities, the motion accuracy ability of x is the best of all, and the motion accuracy ability of y is better than that of z. To study error sources, we illustrated the geometric tolerances and driving errors, which cause the uncertainties of the exoskeleton end-effector. The effects of geometric tolerances and driving errors on kinematic accuracy reliability and relative kinematic accuracy reliability, which are the sensitivity analyses, were numerically simulated and elucidated. The results reveal that the error sensitivity in the x-direction is the lowest and the error sensitivity in the y-direction is lower than that in the z-direction. Besides this, the effects of driving errors on the motion ability of all directions of the exoskeleton end-effector are larger than those of geometric tolerances. This approach for modeling and calculating kinematic accuracy reliability, relative kinematic accuracy reliability, and their sensitivity analysis provides a novel and unique reference standard for exoskeleton and other mechanism design.

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Section: Discussionmentioning

confidence: 97%

A New Study on the Relative Kinematic Accuracy Reliability of a Novel Exoskeleton with Series-Parallel Topology

Pan

Gao

Miao

et al. 2015

Mechanics Based Design of Structures and Machines

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“…Number synthesis is the process of designing the macroscopic topology structures of mechanisms based on the relationships among fundamental topology elements, including the dimension of end-effectors characteristics, the number of limbs, the number of actuated limbs, the number of actuators in a limb and the degrees of overconstraints, the redundant DOF, the passive DOF, etc. Using the number synthesis equations proposed in our previous works, 28 the combined solutions of mechanism structural parameters can be found according to the design requirements.…”

Section: Number Synthesis Of Parallel Wave Power Capture Devices Withmentioning

confidence: 99%

“…Based on the framework, the generalized function ( G F ) sets type synthesis approach of PMs has been proposed. 28–30…”

Section: Introductionmentioning

confidence: 99%

Type synthesis of parallel mechanisms capturing wave energy

Chen

Meng

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Wave energy is clean, renewable, and abundant, awaiting exploitation. A wide range of wave energy converters have been proposed so far. Oscillating body systems are an important class of wave energy converters. Many mechanisms have been invented to absorb the random wave energy. Nowadays, there is a lack of method to design the mechanism for oscillating body systems to extract the wave energy. Parallel mechanism has the advantages of high stiffness and high load, which are suitable for design of the mechanism for wave energy converters. In this paper, a procedural method based on the generalized function ( G F) sets theory is proposed to design parallel mechanisms to capture wave energy. Using this method, numerous parallel mechanisms have been obtained, which provides the foundation of the development of wave energy converters.

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“…1–3 A parallel robot can be regarded as a parallel manipulator with one or more closed-loop kinematic mechanisms in which the ends of the links are connected to the platform to control the motion of the end-effector. 4–7 The CDPRs possess numerous advantages such as large work space, 8,9 high position accuracy, 6,10 fast and high payload-to-weight ratio, and cost efficiency. 11 The CDPRs have widespread applications due to their high flexibility and performance.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of electrohydraulic cable-driven parallel robots

Amare

Qian

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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Dynamic analysis is required for achieving higher efficiency of cable-driven parallel robots. This paper presents the dynamic analysis of the cable-driven parallel robots using the Lagrange’s method, taking cable’s mass and elasticity into account. The Lagrange’s equations of motion are derived and evaluated for the generalized coordinates of the system. The dynamic motion of the parallel robot is expressed by the generalized forces and generalized coordinates to completely specify the configuration of the whole mechanical system as well as every component of the system. The cables are modeled to control and design the motion of each part of the rigid body. The elasticity is determined using the optimal cable’s tensions and lengths. Numerical simulations are performed to obtain the dynamic motion of the cable-driven parallel robots and. Experimental analyses and the effect of the mass of the end-effector on the cable’s tension and elasticity are also investigated. These examples illustrate that the general motion of the rigid body is superior described in terms of a set of independent coordinates. The results indicate that a better speed of the end-effector can be achieved by adding the linear and rotational motions of the electrohydraulic cylinder actuators into the traditional cable-driven parallel robots.

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Number Synthesis of Parallel Robotic Mechanisms

Cited by 16 publications

References 27 publications

A New Study on the Relative Kinematic Accuracy Reliability of a Novel Exoskeleton with Series-Parallel Topology

A New Study on the Relative Kinematic Accuracy Reliability of a Novel Exoskeleton with Series-Parallel Topology

Type synthesis of parallel mechanisms capturing wave energy

Dynamic analysis of electrohydraulic cable-driven parallel robots

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