Structural synthesis of Euclidean platform robot manipulators with variable general constraints

Alizade, Rasim; Can, Fatih Cemal; Gezgin, Erkin

doi:10.1016/j.mechmachtheory.2007.11.006

Cited by 20 publications

(10 citation statements)

References 23 publications

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“…The general structural formula for parallel-serial Euclidean platform type manipulators with variable general constraints [18] including hinges ( ℎ ) , leg ( ) and branch ( ) loops can be also formulated in the form as (Table 1):…”

Section: Structural Formulas For Robot Manipulators By Using Screw Thmentioning

confidence: 99%

“…The structural formula for motion [18] of platforms that are created by mechanical system from different Euclidean planes can be introduced in the following form (table 1):…”

Section: Structural Formulas For Robot Manipulators By Using Screw Thmentioning

confidence: 99%

“…Simple serial platform type structural groups in = 3 and = 6 are presented also in [1]. In the study [18] new structural formulas (formulas ⋕ 5 ℎ 1 ) for parallel and serial platform Euclidean robot manipulators with variable general constraints of branch loops and legs were presented. Selecting the legs of the robot manipulators as moving dyads on Euclidean planes the direct and inverse task will become easier to solve.…”

Section: Introductionmentioning

confidence: 99%

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Structural Synthesis of Robot Manipulators by Using Screw with Variable Pitch

Alizade¹

2019

ujme

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This paper focuses on the systematic type synthesis of parallel robot manipulators by using new structural formulas based on the screw theory. New structural formulas as a total number of screw in kinematic pairs ($), number of screws with variable pitch �$ � �, total number of screws that represent the contact geometry of lower and higher joint elements (t), mobility equation for robot manipulators (M), dimension of the closed loop (λ), motion of end effector of parallel manipulator (m) , number degree of freedom of kinematic pairs (f), refers to find the kinematic structure of robot manipulators realizing a specified motion requirement. Twenty kinematic pairs with structural parameters �$, $ � , f, t� are introduced. History of six structural formulas using for structural synthesis of parallel robot manipulators from space and different subspaces are presented as a table with equations, authors, years and some commentaries. The structural synthesis approach is based on the elementary notions of screw theory. Using the proposed of structural formulas approach, families of platform manipulators are constructed from a set of structural units. This paper is appropriate for engineers with interest in robotics, rovers, space docking parallel manipulators and screw theory.

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Section: Structural Formulas For Robot Manipulators By Using Screw Thmentioning

confidence: 99%

“…The structural formula for motion [18] of platforms that are created by mechanical system from different Euclidean planes can be introduced in the following form (table 1):…”

Section: Structural Formulas For Robot Manipulators By Using Screw Thmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Structural Synthesis of Robot Manipulators by Using Screw with Variable Pitch

Alizade¹

2019

ujme

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“…In his review, author utilizes extensive literature to show advances, contributions and future directions of the field. Alizade et al [2,3,4,5] proposed new design procedures for various parallel manipulator types ranging from parallel manipulators, serial platform manipulators, Euclidean platform manipulators and overconstraint parallel manipulators. In their studies, procedural approaches were introduced and proposed along with novel mobility equations.…”

Section: Introductionmentioning

confidence: 99%

Structural Synthesis of Parallel Manipulators Based on a Different Approach

Gezgin¹

2019

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This work tries to address structural synthesis procedures of parallel manipulators in a different point of view. In generic methodology while structural synthesis starts from deciding the structure of the platforms and computing the structure of the legs in terms of specified constraints, proposed procedure follows an inverse analogy. After the determination of desired number of legs and subspace constraints of the whole manipulator, possible configurations of platform structures are extracted and checked for their constructability. Throughout the study proposed procedure was introduced in detail along with the constraint equations. Utilizing introduced procedure for given examples, structural groups of parallel manipulators were created with respect to the desired constraints and actuators were attached for mobility considerations. All of the results were tabulated throughout the study in order to form various kinds of parallel manipulators as parallel platform manipulators, serial platform manipulators, and serial-parallel platform manipulators.

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“…Tanev [17] presented a type of hybrid mechanism consisting of two parallel mechanisms connected serially. Alizade et al [18,19] synthesized multiple platform manipulators according to their new structural formula.…”

Section: Introductionmentioning

confidence: 99%