Performance analysis and optimization of a five-degrees-of-freedom compliant hybrid parallel micromanipulator

Zhang, Dan; Gao, Zhen

doi:10.1016/j.rcim.2015.01.002

Cited by 25 publications

(13 citation statements)

References 27 publications

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“…Gao and Zhang [6] designed a novel three-DOF compliant parallel mechanism and its performance characterization is analyzed which affects the application potential. Treatments of the characterization and design of compliant parallel mechanisms may also be found in literatures [7][8][9]. By using the flexure hinges instead of the conventional rigid joints, although this kind of structure composed method has spatial multidimensional motion characteristics, the whole stiffness is decent obviously.…”

Section: Introductionmentioning

confidence: 99%

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

Wang

Zhu

Liu

2016

Mathematical Problems in Engineering

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A mechanism for topology optimization of 3-DOF parallel peristaltic structure robot with vector continuous mapping matrix using Solid Isotropic Material with Penalization (SIMP) method is presented in this paper. We focus on how to prevent the differential motion consistency between parallel prototype mechanisms with peristaltic structure. As the conventional parallel robot joints/hinges are no longer needed after topology optimization, therefore, we renamed this kind of 3-DOF robot structures as peristaltic structure. In the proposed method, the vector continuous mapping matrix is built as stress/strain transfer direction conditions for topology optimization of peristaltic structure, and SIMP method is used for multi-inputs and multioutputs decided by parallel prototype mechanisms. Some numerical examples are presented to illustrate the validity of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

Wang

Zhu

Liu

2016

Mathematical Problems in Engineering

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“…Other studies concerned with multiobjective optimization of parallel machines take into consideration the optimality criteria such as workspace boundary, condition number, accuracy and stiffness. [17][18][19][20] Some interesting optimization results are shown in ref. 21 where the variation of motor axis inclinations is studied for a 3-DOF parallel manipulator.…”

Section: Introductionmentioning

confidence: 93%

Unified Kinematics of Prismatically Actuated Parallel Delta Robots

et al. 2019

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SummaryThis paper presents a unified formulation for the kinematics, singularity and workspace analyses of parallel delta robots with prismatic actuation. Unlike the existing studies, the derivations presented in this paper are made by assuming variable angles and variable link lengths. Thus, the presented scheme can be used for all of the possible linear delta robot configurations including the ones with asymmetric kinematic chains. Referring to a geometry-based derivation, the paper first formulates the position and the velocity kinematics of linear delta robots with non-iterative exact solutions. Then, all of the singular configurations are identified assuming a parametric content for the Jacobian matrix derived in the velocity kinematics section. Furthermore, a benchmark study is carried out to determine the linear delta robot configuration with the maximum cubic workspace among symmetric and semi-symmetric kinematic chains. In order to show the validity of the proposed approach, two sets of experiments are made, respectively, on the horizontal and the Keops type of linear delta robots. The experiment results for the confirmation of the presented kinematic analysis and the simulation results for the determination of the maximum cubic workspace illustrate the efficacy and the flexible applicability of the proposed framework.

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“…In the evaluation of a system design, performance measure plays an important role in determining the effectiveness of the system. Thus, we often found that performance evaluation is a major key in system design decisions (Cao, Subramaniam, & Chen, ; Ramasamy & Raja, ; Zhang & Gao, ). In general, performance measures used to evaluate human‐robot collaboration performance, also called human performance, for teleoperation tasks are task completion time, force, average error of spatial movement, and velocity of movement.…”

Section: Proposed Multiple Performance Measuresmentioning

confidence: 99%

Investigating multiple human performance measures in teleoperation task: A translation task in a tele‐sandblasting maintenance system

Jientrakul

Yuangyai

Cheng

et al. 2017

Hum Ftrs & Erg Mfg Svc

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In sandblasting tasks for complex steel structure maintenance, teleoperation is required to keep humans away from occupational risk and hazard. On the other hand, teleoperation typically degrades system‐human performances, resulting in poor product quality and must be designed such that the performances remain as high as possible. However, designing the teleoperation system regarding to a single performance measure may lead to an improper design. In this article, we propose two novel loss‐function‐based human‐performance measures to incorporate with a widely used performance measure, movement time, to thoroughly represent performance: unfinished surface and damaged surface. We aim to investigate the effects of two main design parameters, viewing distance and path width. The results show that only path width is significant for overall performances. Furthermore, the effect of gender is significant such that men outperform women in cleaning the surface. Finally, the optimal setting conditions are suggested to achieve their optimal performances.

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Performance analysis and optimization of a five-degrees-of-freedom compliant hybrid parallel micromanipulator

Cited by 25 publications

References 27 publications

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

Unified Kinematics of Prismatically Actuated Parallel Delta Robots

Investigating multiple human performance measures in teleoperation task: A translation task in a tele‐sandblasting maintenance system

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