Parallel Robots

Merlet, Jean‐Pierre

doi:10.1007/978-94-010-9587-7

Cited by 910 publications

(580 citation statements)

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“…The calculation of the geometry of parallel kinematics is discussed in detail in the literature of robotics and machine tool research [10,15,16]. A complete set of equations for parallel kinematics of 6 DoF does not have a unique solution [15]. Depending on the structure of the parallel kinematic setup, up to 16 different assembly modes can be found.…”

Section: Influencing Parametersmentioning

confidence: 99%

Measurement uncertainty evaluation of a hexapod-structured calibration device for multi-component force and moment sensors

et al. 2017

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As a reference measurement machine for multi-component force and moment sensors of up to six components, a hexapod-structured calibration device was developed at the Physikalisch-Technische Bundesanstalt in 2001. The machine can generate and measure forces of up to 10 kN and moments of up to 1 kN • m. In this paper, the measurement uncertainty budget of the machine is analyzed, beginning with an improved physical model and calculation of sensitivity coefficients using the implicit function theorem and the Monte Carlo method. The main influencing factors for the measurement uncertainty are discussed and suggestions for further reduction of the uncertainty are given.

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Section: Influencing Parametersmentioning

confidence: 99%

Measurement uncertainty evaluation of a hexapod-structured calibration device for multi-component force and moment sensors

et al. 2017

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“…The first one implements a routine for solving the forward position problem of the 3 DOF PM with a PRS configuration (cine3DOF embedded function). It obtains the 9 generalized coordinates that define the robot kinematics by means of the concepts in (Merlet, 2000), (García de Jalón and Bayo, 1994), and the nonlinear position problem is solved by using a Newton-Raphson algorithm.…”

Section: Real-time Control Implementationmentioning

confidence: 99%

“…These manipulators have been implemented as motion simulators, tire-testing machines, flight simulators and medical applications. Various PM mechanical architectures and applications can be found in (Stewart, 1965), (Gough and Whitehall, 1962), (Merlet, 2000), (Tsai, 1999). Research on PMs was first focused on 6-DOFplatforms.…”

Section: Introductionmentioning

confidence: 99%

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Vallés

Díaz‐Rodríguez

Valera

et al. 2012

Mechanics Based Design of Structures and Machines

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“…• Type I (called serial singularities in [68]): They arise when | ∂F ∂Θ | = 0. They occur when the manipulator reaches the boundary of the workspace or internal boundaries limiting different subregions of the workspace.…”

Section: Kinematics and Singularities Of Stewart-gough Platformsmentioning

confidence: 99%

“…• Type II (called parallel singularities in [68]): They arise when | ∂F ∂X | = 0. They occur when the platform is locally movable even when the actuated joints are locked and happens within the workspace.…”

Section: Kinematics and Singularities Of Stewart-gough Platformsmentioning

confidence: 99%

Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms

Borràs

Thomas

Torras

2010

Advances in Robot Kinematics: Motion in Man and Machine

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A la meva família, pel seu recolzament incondicional. AgraïmentsM'agradaria expressar la meva sincera gratitud al professor Federico Thomas.La seva inestimable guia al llarg d'aquests 4 anys m'ha permès no només realitzar aquesta tesi, sinó aprendre queés la recerca i a estimar la professió a través del seu entusiasme en els projectes però també de la seva mirada crítica, sempre constructiva.També voldria agrair a la professora Carme Torras el temps que m'ha dedicat, al llarg de tots els treballs que hem fet junts, pels seus punts de vista sovint diferents que m'han donat més perspectiva i per deixar-me aprendre de la seva professionalitat i versatilitat.La Maria Alberich també mereix el meu agraïment, per haver-me presentat al Federico, i mostrar-me el camí cap a l'Institut i el món de la investigació, així com també pels seus consells al llarg d'aquest temps, des de la carrera fins avui. Finalment, també vull agrair a tots els companys de l'Institut de Robòtica i Informàtica Industrial, pel bon ambient, els bons moments, les opinions compartides i el recolzament moral i professional. I a la meva família i al Joan, per estar sempre al meu costat. AbstractThe Stewart-Gough platform was first introduced by E. Gough in 1954 and, since then, it has been used for many applications thanks to its great stiffness, accuracy and robustness in comparison with serial manipulators. It has triggered the research on parallel manipulators and continues to be the center of many researches because, despite its simple geometry, its analysis translates into challenging mathematical problems. One of the most challenging ones is the geometric interpretation of its singularities, that is, those positions where the platform loses stiffness. A complete geometric characterization of these unstable poses is still an open problem.The present thesis provides new insight into this problem from a completely new approach: finding singularity-invariant leg rearrangements.Finding all the transformations that leave the solution of a problem invariant does not solve it, but it provides a lot of information that contribute to its resolution. In the Stewart-Gough platform context, this indirect approach consists in the characterization of all the leg rearrangements that leave the platform singularity locus invariant. Such singularity-invariant leg rearrangements are shown to be a powerful tool to obtain kinematically equivalent manipulators, to help to visualize at a glance the complexity of its kinematics and to provide a common and original framework for the study of both pose-dependent singularities and architectural singularities of Stewart-Gough platforms.The thesis analyzes all the rigid components that a Stewart-Gough platform can contain on a case-by-case basis. Then, it is shown how some of the most simple components admit any leg rearrangement that preserves the lines and planes that their attachments define. On the contrary, other more complex components only admit rearrangements that preserve some extra geometric constrains. This appare...

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Parallel Robots

Cited by 910 publications

References 0 publications

Measurement uncertainty evaluation of a hexapod-structured calibration device for multi-component force and moment sensors

Measurement uncertainty evaluation of a hexapod-structured calibration device for multi-component force and moment sensors

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms

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