Practical feasibility of a high-precision 3-UPU parallel mechanism

Bhutani, Gaurav; Dwarakanath, T A

doi:10.1017/s0263574713000696

Cited by 9 publications

(6 citation statements)

References 15 publications

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“…In addition, by comparing the four 3-DOF TMPs in the Tsai and Joshi (2001), the rail guides of linear actuators in 3-PUU TMPs (where P stands for a prismatic pair) make the fixed platform too large to be a waist for biped locomotors, while 3-RUU and UPU TMPs (where R stands for a revolute pair) can be expected to be useful for leg designs. Furthermore, Bhutani and Dwarakanath (2014) have presented a high-precision prototype as based on 3-UPU TMP and they validated the practical feasibility of this design in terms of repeatability and trajectory following accuracy for various payloads.…”

Section: Introductionmentioning

confidence: 86%

Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

2015

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Abstract. In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator and its operation performance is investigated through lab experimental tests. In particular, an experimental layout is presented for investigating operational performance. A prescribed motion with an isosceles trapezoid trajectory is used for characterizing the system behavior. Experiment results are analyzed for the purpose of operation evaluation and architecture design characterization of the tripod manipulator and its proposed prototype.

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Section: Introductionmentioning

confidence: 86%

Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

2015

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Section: Introductionmentioning

confidence: 94%

“…These results were exploited by Parenti-Castelli et al to build a prototype [13,14] of the Tsai 3-UPU that worked correctly. Later, the same results together with an in-depth analysis of the joint-clearance effects allowed for Bhutani and Dwarakanath [17,18] to build a "high-precision" Tsai 3-UPU that could be used as a measuring machine. In the SNU 3-UPU (Figure 1d), the base (platform) triangle A 1 A 2 A 3 (B 1 B 2 B 3 ) is an equilateral triangle, and the unit vectors w 1i (w 4i ), i = 1, 2, 3, lie on three R-pair axes that have the center of this triangle as a common intersection.…”

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confidence: 94%

A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type

Gregorio

2020

Robotics

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Various 3-UPU architectures feature two rigid bodies connected to one another through three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first proposed in the last decade of the 20th century and have animated discussions among researchers for more-or-less two decades. Such discussions brought to light many features of lower-mobility parallel manipulators (PMs) that were unknown until then. The discussions also showed that such architectures may be sized into translational PMs, parallel wrists, or even reconfigurable (metamorphic) PMs. Even though commercial robots with these architectures have not yet been built, the interest in them remains. Consequently, a review of the literature on these architectures, highlighting their contribution to the progress of lower-mobility PM design, is still of interest for the scientific community. This paper aims at presenting a critical review of the results that have been obtained up until now.

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“…The solution of positive kinematics can be solved by Netwon-Rapson iteration [16]. Bhutani and Dwarakanath [17] studied the kinematics of the 3UPU parallel platform with translation only, analyzed singularity, and get the singularity-free workspace. Lu et al [18] analyzed the kinematics of two 3UPU parallel platforms with different structures, and obtained the displacement, velocity, acceleration, and workspace of the two structures.…”

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis of 3UPU_UP Coupling Parallel Platform in the Marine Environment

Xiong

Tang

2020

IEEE Access

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A study of the kinematic characteristics of a 3UPU_UP coupling parallel platform that has three-degree-of-freedom(3-DOF). In this article, a novel 3UPU_UP parallel platform is presented, which is based on the 5-DOF 3UPU parallel platform by adding a UP followed limb. The DOFs and motion constraints of the platform are analyzed by the screw theory, and the coupling constraint equation of the platform is obtained through coordinate transformation. The inverse kinematics equation of the platform is derived by the closed-loop method, and the forward kinematics equation of the platform is solved by Netwon-Rapson iteration. The trajectory of the platform in space is obtained and the correctness of the coupling constraint equation of the platform in other DOFs is verified. Considering that the motion of a ship on the sea is multi-DOF and complicated, the motion of the cargo on the ship can be compensated by using a coupling characteristic of the platform to improve the safety of marine operations. INDEX TERMS 3UPU_UP parallel platform, coupled constraint equation, Kinematic analysis, ocean wave model.

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Practical feasibility of a high-precision 3-UPU parallel mechanism

Cited by 9 publications

References 15 publications

Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type

Kinematics Analysis of 3UPU_UP Coupling Parallel Platform in the Marine Environment

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