Research on Forward Position Solutions for 6-SPS Parallel Mechanisms Based on Topology Structure Analysis

Shen, Huiping

doi:10.3901/jme.2013.21.070

Cited by 15 publications

(15 citation statements)

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“…The method for ORS of position analysis is given as follows: 1) Among all possible sub-kinematic chain (SKC) or loops within an SKC, the SKC/loop with the smallest constraint D 1 value ( ! 0) should be taken as the first SKC/loop of the position analysis, which can minimise the constraint degree of SKC/loop, that is, the number of virtual variables [5] that should be assigned is the smallest; 2) When there are several optional first loops with the same minimum constraint degree D 1 , the loop with the smallest of the NIDE (n 1 ) min should be selected as the first loop. In this way, the number of equations required to solve the loop position can be minimised, which is exactly equal to (n L ) min .…”

Section: Procedures Of Optimal Route Selectionmentioning

confidence: 99%

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The Effect of the Optimal Route Selection on the Forward Position Solutions of Parallel Mechanisms

Shen

et al. 2020

Mechanisms and Machine Science

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The forward position solution (FPS) of a parallel mechanism (PM) can be solved according to the sub-kinematic chain (SKC) contained in the PM, and the SKC position solution can be solved based on the sequence of its loops. Therefore, when solving the position, the first loop must be correctly and orderly selected. The optimisation criterion of the first loop proposed for the FPS in this paper can make kinematics modelling and solve efficiently. A symbolic position solution of a three-translation (3T) PM is taken as an example to illustrate this criterion.

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Section: Procedures Of Optimal Route Selectionmentioning

confidence: 99%

“…The authors investigated a method of establishing and solving kinematic equations based on the topological characteristics of mechanisms [5,6]. This paper proposes the optimisation criterion of the first loop of FPS, which can make the FPS of the PM simple and efficient.…”

Section: Introductionmentioning

confidence: 99%

The Effect of the Optimal Route Selection on the Forward Position Solutions of Parallel Mechanisms

Shen

et al. 2020

Mechanisms and Machine Science

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“…We have calculated and proved that the coupling degrees k of six 6-SPS PMs are 3, 2, 1, 1, 1, 0, respectively. 9 We can, therefore, select those topological PMs having a low coupling degree such as the 2-2-2, 2-2-1-1, 3-1-1-1 types with k = 1 or the 3-2-1 type with k = 0, to easily perform forward kinematics while keeping their POC unchanged, 9,10 that is, a three-translation and three-rotation output of the moving platform. The coupling degree k will be addressed in Section 2.1 and Eq.…”

Section: Introductionmentioning

confidence: 99%

“…The coupling degree k will be addressed in Section 2.1 and Eq. (9). In addition, one could consider PMs with an input-output motion decoupling (I-O decoupling) property such as the 3-2-1 type to perform easily trajectory planning and motion control.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Topological Properties of Parallel Manipulators Based on the Topological Characteristic Indexes

Shen¹,

Yang²,

Li³

et al. 2019

Robotica

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SUMMARYThe topological structure of a parallel manipulator (PM) determines its intrinsic topological properties (TPs). The TPs further determine essential kinematic and dynamic properties of the mechanism. TPs can be expressed through topological characteristics indexes (TCI). Therefore, defining a set of TCIs is an important issue to evaluate the TPs of PMs. This article addresses the evaluation of topological properties (ETP) of PMs based on TCI. A general and effective ETP method for PMs is proposed. Firstly, 12 TCIs are proposed, including 8 quantitative TCIs, that is, position and orientation characteristics sets (POC), dimension of the POC set, degrees of freedom (DOF), number of independent displacement equations, types and number of an Assur kinematic chain (AKC), coupling degrees of the AKCs, degrees of redundancy and the number of overs; as well as 4 qualitative TCIs, that is, selection of actuated joints, identification of inactive joints, DOF type and Input–Output motion decoupling. Secondly, the ETP method is illustrated by evaluating some well-known PMs including the Delta, Tricept, Exechon, Z3, H4 and the Gough–Stewart platform manipulators, as well as 28 other typical PMs. Via the ETP analysis of these mechanisms also some valuable design knowledge is derived and guidelines for the design of PMs are established. Finally, a 5-DOF decoupled hybrid spraying robot is developed by applying the design knowledge and the design guidelines derived from the ETP analysis.

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“…Dalvand [20] presented the forward kinematic analysis of 6-RRCRR (revolute pair revolute pair cylindrical pair revolute pair revolute pair) parallel manipulators. Shen [21] did research on the forward position solution for 6-SPS parallel mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Position, Jacobian, decoupling and workspace analysis of a novel parallel manipulator with four pneumatic artificial muscles

Zang

Kejiang

Shen

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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This paper firstly presents a novel 4-SPS/S (active chain/passive chain) parallel manipulator (PPM) driven by four pneumatic artificial muscles (PAMs). SPS denotes a spherical pair-prismatic pair-spherical pair chain and S denotes a spherical pair chain. The PPM proposed can be utilized as shoulder, wrist, waist, hip and ankle simulators or ankle rehabilitation robot. And we present a comprehensive analysis on the PPM proposed, including degrees of freedom (DOF), position, kinematic, Jacobian, singularity, decoupling and workspace analysis. In order to decrease the influence of the maximum angle of spherical pairs in four active chains on the workspace, a novel connector for PAM is proposed. The structure of the PPM is explicitly described, and DOF of the PPM are analyzed based on constraint screw theory. The posture of the moving platform (MP) of the PPM is obtained though Z-Y-X (α-β-γ) type Euler angles and the inverse position solution is obtained. When the MP moves toward any a single Euler angle direction, the closed-form direct position solution is presented by geometric analysis. A back propagation (BP) neural network model for the whole direct position solution is established. Two methods for the Jacobian matrix, one velocity composition, one differentiation, are addressed, and the acceleration inversion is obtained. Based on the Jacobian matrix, the singularity and kinematic decoupling of the PPM are both analyzed. The geometric model of expanded PAM is introduced, and the change of diameters of four PAMs in active chains is taken into consideration when chains of the PPM interfere. Based on length ranges of four active chains, the maximum angle of spherical pairs and possible interferences between chains of the PPM, the configuration workspace is presented. Finally, the characteristic of the workspace and the influence of the maximum angle of spherical pairs in active chains on the configuration workspace are both analyzed.

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Research on Forward Position Solutions for 6-SPS Parallel Mechanisms Based on Topology Structure Analysis

Cited by 15 publications

References 0 publications

The Effect of the Optimal Route Selection on the Forward Position Solutions of Parallel Mechanisms

The Effect of the Optimal Route Selection on the Forward Position Solutions of Parallel Mechanisms

Evaluation of Topological Properties of Parallel Manipulators Based on the Topological Characteristic Indexes

Position, Jacobian, decoupling and workspace analysis of a novel parallel manipulator with four pneumatic artificial muscles

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