On the Design of Mobile Parallel Robots for Large Workspace Applications

Yang, Hai; Krut, Sébastien; Pierrot, François; Baradat, Ce ́dric

doi:10.1115/detc2011-48101

Cited by 5 publications

(5 citation statements)

References 24 publications

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“…These difficulties include how to establish the dynamic model of the hybrid system in a systematic way, which involves redundancy resolution and singularity avoidance and often performance indicators of the controller motion. The optimal control and multiobjective trajectory planning of robotic systems is a dynamic research area [9][10][11][12][13][14][15][16][17][18][19]. The present paper extends the application of optimal control and multi-objective decision making to constrained time-energy trajectory planning of mobile parallel manipulators.…”

Section: Related Workmentioning

confidence: 99%

“…Research into mobile parallel manipulators is a relatively new research domain, and substantial literature has recently been published [18][19][20][21][22][23]. In this paper we use the architecture presented in [2], which consists of a threewheeled nonholonomic mobile robot and a modified 4-DOF MPM version of a DELTA parallel robot (Fig.…”

Section: Architecture Descriptionmentioning

confidence: 99%

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Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Khoukhi

Hamdan

2013

International Journal of Advanced Robotic Systems

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This paper provides a kinematic and dynamic analysis of mobile parallel manipulators (MPM). The study is conducted on a composed multi-degree of freedom (DOF) parallel robot carried by a wheeled mobile platform. Both positional and differential kinematics problems for the hybrid structure are solved, and the redundancy problem is solved using joint limit secondary criterion-based generalized-pseudo-inverse. A minimum time trajectory parameterization is obtained via cycloidal profile to initialize multi-objective trajectory planning of the MPM. Considered objectives include time energy minimization redundancy resolution and singularity avoidance. Simulation results illustrating the effectiveness of the proposed approach are presented and discussed.

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Section: Related Workmentioning

confidence: 99%

Section: Architecture Descriptionmentioning

confidence: 99%

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Khoukhi

Hamdan

2013

International Journal of Advanced Robotic Systems

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“…Only a limited number of legged robots have been developed for machining applications. Yang et al [14] proposed an industryoriented tripod robot that combines the mobility of legged robots and the advantages of parallel mechanisms. With lockers on certain passive joints and clamping devices at the end of limbs, the robot used only six actuators to perform locomotion tasks and manipulation tasks.…”

Section: Introductionmentioning

confidence: 99%

A novel six-legged walking machine tool for in-situ operations

Liu¹,

Tian²,

Gao³

2020

Front. Mech. Eng.

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The manufacture and maintenance of large parts in ships, trains, aircrafts, and so on create an increasing demand for mobile machine tools to perform in-situ operations. However, few mobile robots can accommodate the complex environment of industrial plants while performing machining tasks. This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and a portable parallel kinematic machine tool. The kinematic model of the entire system is presented, and the workspace of different components, including a leg, the body, and the head, is analyzed. A hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged mobile platform and the high precision of the parallel machine tool. The repeatability of the head motion, body motion, and walking distance is evaluated through experiments, which is 0.11, 1.0, and 3.4 mm, respectively. Finally, an application scenario is shown in which the walking machine tool steps successfully over a 250 mm-high obstacle and drills a hole in an aluminum plate. The experiments prove the rationality of the hierarchical motion planning scheme and demonstrate the extensive potential of the walking machine tool for in-situ operations on large parts.

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“…If the trajectory following of this BE link is expected in the whole workspace, the inverse kinematic model which considers the concerned Fig. 7: Extraction process BE link as the end effector can be established numerically [10]. A whole swinging movement has three processes: the extraction of the clamping device, the free swinging of the limb and the insertion of the clamping device.…”

Section: B Limb Swinging Movementmentioning

confidence: 99%

“…Several techniques and the topological analysis for designing industry oriented legged robots are addressed in [10]. The proposed quadruped which combines the mobility of legged robots and advantages of PKMs is able to carry various effectors for achieving manufacturing tasks in large workspaces.…”

Section: Introductionmentioning

confidence: 99%

Locomotion approach of REMORA: A reonfigurable mobile robot for manufacturing Applications

Yang¹,

Krut

Baradat³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents the locomotion approach of a novel quadruped robot which is able to carry various effectors for achieving manufacturing tasks in large workspaces. Equipped with lockers on some of the passive joints and clamping devices at the end of its limbs, this quadruped uses eight actuators for achieving manufacturing tasks as well as locomotion tasks. In the following sections, we first present the proposed robot and its two working modes. Then, the locking strategy of the robot is formulated as an optimization problem. Also, a practical method for managing the limbs swinging movement is addressed. At last, the presented approach is applied on two concrete examples. Possessing a low degree of kinematic redundancy, the proposed quadruped shows a reasonable locomotion capacity which allows it to achieve locomotion with respect to some extra constrains in its workspaces.

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On the Design of Mobile Parallel Robots for Large Workspace Applications

Abstract: In

Cited by 5 publications

References 24 publications

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

A novel six-legged walking machine tool for in-situ operations

Locomotion approach of REMORA: A reonfigurable mobile robot for manufacturing Applications

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