Synthesis of new statically balanced parallel mechanisms

Kang, Long; Seo, Jong Tae; Kim, Wheekuk

doi:10.1109/icma.2014.6885852

Cited by 5 publications

(4 citation statements)

References 15 publications

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“…Manipulator paralel menggunakan rantai paralelogram simetris yaitu 2-ΠΠΠ dan 2-ΠΠ yang dibahas dalam tulisan ini memiliki konfigurasi rantai kinematik seperti yang ditunjukkan dalam Gambar 1. Manipulator paralel bidang 2-ΠΠΠ pada Gambar 1 sedikit berbeda dengan konstruksi yang telah disintesis oleh Kang, dkk [14]. Parameter geometri kedua manipulator ini juga diberikan dalam Gambar 1 berikut dengan sistem kerangka acuan tetap XOY di base dan kerangka acuan bergerak xPy di platform manipulator.…”

Section: Metodeunclassified

Kinematics and Singularity Analysis of 2 DOF Planar Parallel Manipulators with Symmetrical Parallelogram Chains

Adriyan

2020

JTM

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This paper presented the kinematic and singularity analysis of two degree of freedom planar parallel manipulator or 2DOF PPM, in short, with symmetrical parallelogram chains. There were two configurations of 2DOF PPM that analyzed in this paper, that were 2-ΠΠΠ and 2-ΠΠ. Both PPM were represented on a topology diagram using graphs, respectively. Before conducting a kinematic analysis, 2-ΠΠΠ dan 2-ΠΠ were simplified to an equivalent kinematic chain, which was a well-known 5R kinematic chain. Then, the closed-form solutions for the inverse kinematic and the direct kinematic of the PPM were obtained by using the equivalent kinematic chain. Afterward, the velocity analysis was carried out to acquire Jacobians of the PPM. Hence, the singularity analysis can be performed to investigate singularity conditions that existed on the manipulator using these Jacobians. The singularity analysis showed that three singularity conditions existed on the manipulator, i.e. inverse, direct, and combined kinematic singularity. An insightful schematic was provided to illustrate each singularity condition.

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Section: Metodeunclassified

Kinematics and Singularity Analysis of 2 DOF Planar Parallel Manipulators with Symmetrical Parallelogram Chains

Adriyan

2020

JTM

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“…Kim and Cho [13] proposed a static balancing mechanism for a face robot that uses a gravity compensator (spring). Using the concept of constant potential energy, Kang et al [14] proposed a statically balanced stackable planar mechanism.…”

Section: Introductionmentioning

confidence: 99%

“…The stiffness model of the balancing mechanism was found as the measure of the open-loop stability, and zero stiffness ensured static balancing over the entire workspace of the mechanism. Seo et al [33] described balancing methods for a passive surgical robot, and Kang et al [14] also did so for a parallel robot that was designed on the basis of a stackable parallel mechanism. Balancing equations for the stackable mechanism were suggested that ensured gravity compensation in the entire workspace of the mechanism.…”

Section: Introductionmentioning

confidence: 99%

A Static Balancing Method for Variable Payloads by Combination of a Counterweight and Spring and Its Application as a Surgical Platform

Woo

Seo

2019

Applied Sciences

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Stackable mechanism architecture has demonstrated effective gravity-balancing over entire workspaces. Adjustable balancing is required when balancing is broken due to changing the payload at the distal end of a mechanism. In this paper, adjustable balancing of the stackable mechanism for a variable payload is investigated. For this, balancing conditions for three adjustable balancing methods are suggested, and a new balancing method combining a spring and counterweight is considered as an effective means of adjustable balancing for variable payloads. The excellent performance of the system is proven through experiments. Electromyography (EMG) sensors are employed to measure the amount of energy expenditure during the drilling task. It was verified through several tests that an operator holding a drill mounted at the distal end of a stackable arm felt less energy compared to an operator holding the drill directly in free space. The developed balancing arm was successfully applied during a mastoidectomy. A 3-step warning algorithm along with a braking function was found to be effective for safe surgery.

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“…Particularly, gravity balanced mechanisms design with parallelograms were widely discussed in previous researches. [22][23][24][25][26] Moreover, type synthesis of new statically balanced PM by using a stackable planar mechanism 27 as the building block was investigated by Kang et al 28 Based on previous studies, 27,28 a kind of gravity balanced 3T1R-PM is proposed and deeply investigated in this work. This PM is composed of two limbs.…”

Section: Introductionmentioning

confidence: 99%

Design of a new gravity balanced parallel mechanism with Schönflies motion

Kang

Kim

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a new gravity-balanced 3T1R parallel mechanism is addressed. Firstly, structure description, inverse and forward kinematic modeling are performed in detail. Secondly, Jacobian derivation based on screw theory and singularity analysis using Grassmann Line Geometry is performed, and then optimal kinematic design with respect to workspace size, kinematic isotropy and maximum force transmission ratio are conducted. Thirdly, the gravity balancing design using both counterweights and springs is proposed and a prototype of this mechanism is also presented. Results of analysis show that the proposed mechanism has quite a few potential applications.

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Synthesis of new statically balanced parallel mechanisms

Cited by 5 publications

References 15 publications

Kinematics and Singularity Analysis of 2 DOF Planar Parallel Manipulators with Symmetrical Parallelogram Chains

Kinematics and Singularity Analysis of 2 DOF Planar Parallel Manipulators with Symmetrical Parallelogram Chains

A Static Balancing Method for Variable Payloads by Combination of a Counterweight and Spring and Its Application as a Surgical Platform

Design of a new gravity balanced parallel mechanism with Schönflies motion

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