Parallel Robot

Deabs, Ahmed; Gomaa, F.R.; Khader, Khaled

doi:10.25103/jestr.146.02

Cited by 10 publications

(3 citation statements)

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“…From the point of view of mechanics, the relationships limiting freedom should be considered as geometric constraints, [5][6][7][8][9] which significantly complicates the mathematical modeling of the dynamics of parallel manipulators. [10][11][12][13] The latter circumstance is particular importance due to the fact that at the present stage of development of electronics and software in the control loops of mechatronic systems, 1,14 which include manipulators, it is possible to use algorithms based on the latest achievements of mathematical control theory, including with incomplete information. 15 A necessary condition for the implementation of this possibility is the availability of an adequate mathematical model of the device obtained by rigorous methods.…”

Section: The Need To Apply Methods For Modeling the Dynamics Of Mecha...mentioning

confidence: 99%

“…Despite the rather obvious extreme complexity and high laboriousness of the described modeling method, it is this method that is used in numerous studies [11][12][13]30 with large lists of references) of the dynamics of manipulators with parallel kinematics. In this case, the coordinates that determine the configuration of the system are often rather unsuccessfully chosen (see the form of the equations of the constraints of the Delta robot.…”

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confidence: 99%

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On the methods of analytical mechanics for mathematical modeling of the dynamics of non-free systems and some variants of their application to the dynamics of parallel manipulators

Krasinskiy¹

2022

IRATJ

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The level of development of actuator technology and the element base and software of control loops of modern automatic devices makes it possible to use in technical practice complex control algorithms based on the results of mathematical control theory, including with incomplete information about the state. The effectiveness of such algorithms is determined by the presence of an adequate mathematical model of the device under study. For such a widespread class of automatic devices as manipulators with parallel kinematics, the problem of developing methods for creating mathematical models that allow taking into account nonlinear effects, despite the efforts of numerous researchers, remains relevant. To a large extent, the complexity of modeling the dynamics of this class of automatic devices is associated with the presence of parallel kinematic chains, which leads to the need to apply the results of analytical mechanics of non-free systems. In this section of theoretical mechanics, several rigorous methods have been developed, as a result of which mathematical models of different dimensions are obtained with different levels of complexity of the algorithms for their derivation and study. This leads to the need for a critical analysis of both the methods themselves and their possible application in technical practice. In this paper, the main algorithms for obtaining mathematical models of the dynamics of systems with geometric constraints are presented in detail and some comparative analysis of their application to modeling the dynamics of manipulators with parallel kinematics is carried out.

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Section: The Need To Apply Methods For Modeling the Dynamics Of Mecha...mentioning

confidence: 99%

mentioning

confidence: 99%

On the methods of analytical mechanics for mathematical modeling of the dynamics of non-free systems and some variants of their application to the dynamics of parallel manipulators

Krasinskiy¹

2022

IRATJ

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“…Piezoelectric ceramics, characterized by fast response, high resolution, and substantial thrust, are suitable for high-precision and smallrange micromanipulations [26,27]. Moreover, in-series mechanisms exhibit low stiffness and error accumulation, resulting in reduced precision of the end-effector, while parallel mechanisms offer high stability and precision [28,29]. Therefore, a parallel mechanism driven by piezoelectric ceramics can meet the precision requirements for micromanipulation at the cellular level, and researchers have conducted extensive studies on it.…”

Section: Introductionmentioning

confidence: 99%

High-Speed Cell Assembly with Piezo-Driven Two-Finger Microhand

Zhao,

Deng,

Chen

et al. 2024

Applied Sciences

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In the past few decades, researchers have conducted extensive studies on cell micromanipulation methods. However, there has consistently been a lack of a micromanipulation system that excels in both precision and speed. Additionally, many of these methods rely on manual control, thus significantly reducing efficiency. In this paper, a robotized micromanipulation system employing a two-finger microhand is proposed. The microhand has a 3-DoF parallel mechanism driven by three piezoelectric actuators, enabling high-precision micromanipulation. Replacing the needle-tip end-effector with a hemispherical end-effector makes cell grasping easier and more stable. In addition, a vibration-based release method combined with gel coating is proposed to reduce the release difficulty caused by adhesion forces. Through multiple sets of experiments, we have determined the optimal grasping and releasing conditions while balancing precision, stability, and damage degree to cells. An automated cell assembly strategy based on microscopic visual feedback and pick-and-place path planning is proposed to achieve the robotized high-speed cell array. Hela cells were chosen as the operation objects, achieving a 95% success rate in grasping and a 97% success rate in releasing. A “T” letter array formed by cells was successfully assembled with an average grasp and release time of less than 0.8 s and an assembly accuracy of 4.5 μm for a single cell. This study holds significant implications for the fields of biology and medicine, presenting potential applications in tissue engineering.

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