Parallel Manipulators Applications—A Survey

Patel, Y. D.; George, P.M.

doi:10.4236/mme.2012.23008

Cited by 198 publications

(96 citation statements)

References 21 publications

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“…Patel and George (2012) have listed several advantages of parallel manipulators over their serial counterparts. Among all, great load carrying capacity, low inertia, higher stiffness, reduced errors and higher accuracy of parallel manipulators can be mentioned.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Performance Evaluation of Serial and Parallel RPR Manipulators with Flexible Intermediate Links

Ebrahimi

Eshaghiyeh-Firoozabadi

2016

Iran J Sci Technol Trans Mech Eng

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This paper presents a comprehensive study of the workspace, dynamic characteristics and accuracy of three planar flexible manipulators with 3-RPR, 2-RPR and 1-RPR structures moving at high speed. A geometrical procedure is employed to obtain the workspaces of the manipulators. The flexible intermediate links are modeled as the Euler-Bernoulli beams with fixed-free boundary conditions based on the assumed mode method. Using the Lagrange multipliers, a generalized set of differential algebraic equations of motion is developed for the planar RPR manipulators. Three moving constraints, which are obtained from an inverse kinematics analysis and applied to the actuated base joints, impose the end-effector to follow a high-speed circular motion as the desired trajectory. From this analysis, the dynamic performance of 1-RPR flexible serial manipulator and 2-RPR and 3-RPR flexible parallel manipulators in tracking a desired trajectory is evaluated. Based on the results, it is concluded that, in addition to the specific structure of the manipulator, the accuracy generally depends on the operation conditions. The results contest the general assertion which claims that parallel manipulators have more accuracy and stiffness than serial counterparts.

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Section: Introductionmentioning

confidence: 99%

Dynamic Performance Evaluation of Serial and Parallel RPR Manipulators with Flexible Intermediate Links

Ebrahimi

Eshaghiyeh-Firoozabadi

2016

Iran J Sci Technol Trans Mech Eng

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“…Parallel mechanisms are better than conventional serial mechanisms for the advantages of greater load carrying capacity, low inertia, high structural stiffness, reduced sensitivity to certain errors, and built-in redundancy [1]. Nowadays parallel mechanisms are widely popular in the fields of mining machine, material handling, motion platform, machine tools, vehicle suspensions, and telescope positioning system.…”

Section: Introductionmentioning

confidence: 99%

Sensitivity Analysis of Pose Error of a 3-PPPS Parallel Mechanism

Zhang¹,

Li²

2017

dtetr

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Abstract. Pose error is one of the key performance factors for parallel mechanisms. This paper deals with sensitivity analysis of pose error of a 3-PPPS pose alignment for large components. First, the total differential method was taken to deduce the relationship between original errors and pose errors of the moving platform based on a parallel mechanism. Then, the sensitivity of original errors of the parallel mechanism to errors of the moving platform was expressed. Finally, the effects of the moving platform poses on the error sensitivities were studied. The results show that the sensitivity values of position errors are bigger than orientation errors' and the pose of moving platform has little effect on the error sensitivity, and established a foundation for the accuracy analysis of the 3-PPPS parallel mechanism.

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“…For the wrist motion we decided to use a parallel mechanism, considering the fact it has several advantages over a serial one, including higher accuracy, more stiffness, lower mass and inertia, and more compactness [10]. However, the desired parallel mechanism should provide the required workspace with a small size and minimum number of motors and links.…”

Section: Design Of Adapting Mechanismmentioning

confidence: 99%

An Adapting Mechanism to Manipulate Manual Wristed Laparoscopic Instruments by a Robotic Surgery System

Hanifeh¹,

Alamdar²,

Farahmand³

et al. 2017

Proceedings of the 4th International Conference of Control, Dynamic Systems, and Robotics (CDSR'17)

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Abstract-Sina is a robotic telesurgery system that accepts and works with conventional laparoscopic tools at its endeffector. This paper describes the design and analysis of an adapting mechanism for Sina, to enable manipulating a manual wristed laparoscopic instrument, i.e., Laparo-Angle by the system. After identification of the kinematics and dynamics characteristics of Laparo-Angle experimentally, .the design considerations of the adapting mechanism, including compatibility with the instrument (at one side) and the host robotic arm (at the other side), required kinematics and dynamics features, ease of tool replacement, etc., were studied and a conceptual design, based on the Agile Eye mechanism, was proposed. The forward and inverse kinematics analysis of the proposed mechanism revealed that it is capable of providing the desired workspace while meeting the design constraints. The workspace of the mechanism was a cone with an apex angle of 35 degrees, in which both the isotropy and manipulability indices were satisfying. The condition number and the Jacobean determinant of the mechanism within its workspace were lower than 1.4 and higher than 1, respectively. In general, the proposed mechanism was found to could satisfy the design requirements and constrains.

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Parallel Manipulators Applications—A Survey

Cited by 198 publications

References 21 publications

Dynamic Performance Evaluation of Serial and Parallel RPR Manipulators with Flexible Intermediate Links

Dynamic Performance Evaluation of Serial and Parallel RPR Manipulators with Flexible Intermediate Links

Sensitivity Analysis of Pose Error of a 3-PPPS Parallel Mechanism

An Adapting Mechanism to Manipulate Manual Wristed Laparoscopic Instruments by a Robotic Surgery System

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