Synthesis of planar parallel manipulators including dexterity, force transmission and stiffness index

Quintero-Riaza, Héctor Fabio; Calderón, Luz Adriana Mejía; Díaz‐Rodríguez, Miguel

doi:10.1080/15397734.2019.1615503

Cited by 17 publications

(6 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As depicted in Fig 4, according to the vector closed quadrangle [22][23] OAA2B1,2OB formed by the red dotted line arrows, the change equation of each branch chain's length change AiB1,i at the first level (n=1) can be obtained as：…”

Section: Fig 4 Motion Principle Of a Four-level Rigid Trunk Mechanism Based On 4-sps/umentioning

confidence: 99%

“…As shown in Fig. 4, the vector closed quadrilateral [22][23] OBB1,2B2,2OC diagram formed by the red dashed arrows can be obtained for each branch chain length B1,iB2,i in the second level (n=2):…”

Section: Fig 4 Motion Principle Of a Four-level Rigid Trunk Mechanism Based On 4-sps/umentioning

confidence: 99%

“…As shown in Fig. 4, the vector closed quadrilateral [22][23] ODOCB2,2B3,2 formed by the red dashed arrows can be derived from the diagram of the third level (n=3) for each branch chain length B2,iB3,i with the variation equation:…”

Section: Inverse Position Solution Modelingmentioning

confidence: 99%

See 2 more Smart Citations

Design and Kinematic Analysis of a 4-SPS/U-based Four-level Rigid Trunk Mechanism

Pan

Liu

Fan

et al. 2021

Preprint

View full text Add to dashboard Cite

A 4-SPS/U four-level rigid trunk mechanism, with SPS as the driving branch and U as the middle constrained driven branch, is innovatively proposed in this paper. It can improve the flexibility of hexapod mobile robots in posture adjustment in various motion modes such as walking, water propulsion, climbing, and rolling. Firstly, the screw theory is adopted to calculate the degree of freedom of the 4-SPS/U four-level rigid trunk mechanism. Secondly, a combination of closed vector method and decoupling method of eigenstructure assignment has been applied to constructing the inverse kinematics solution, and deriving the velocity and acceleration models as well as analyzing the high posture flexibility in workspace of the trunk mechanism. Thirdly, theoretical simulation data diagram of the movement branch chain displacement, end height, speed and acceleration of the trunk mechanism are calculated through theoretical numerical examples, and the excellent motion characteristics of the 4-SPS/U type four-level rigid trunk mechanism are analyzed. Finally, a quantitative comparison was made between the theoretical simulation data and the experimental data of the experimental prototype. The error rates of the variation curves of the displacement length, height, velocity and acceleration of the driving branch chain were 0.8%, 0.2%, 0.5% and 0.9%, which verified the correctness and reliability of the theoretical derivation.

show abstract

Section: Fig 4 Motion Principle Of a Four-level Rigid Trunk Mechanism Based On 4-sps/umentioning

confidence: 99%

Section: Fig 4 Motion Principle Of a Four-level Rigid Trunk Mechanism Based On 4-sps/umentioning

confidence: 99%

See 1 more Smart Citation

Design and Kinematic Analysis of a 4-SPS/U-based Four-level Rigid Trunk Mechanism

Pan

Liu

Fan

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…The dexterity analysis is directly related to the condition index (CI) which is the reciprocal of the conditioning number Eq. (31) of the Jacobian matrix [16,33]. = 1 (31) where is the condition number, which is determined by the multiplication of any of the rules of the Jacobian matrix and its inverse, that is = ‖ −1 ‖‖ ‖ (32) Another approach to calculating the condition number is in terms of the stiffness matrix and its eigenvalues:…”

Section: Condition Indexmentioning

confidence: 99%

“…In which The condition index can have a value between 0 and 1, which enables the skill, manipulator's isotropy level (the ability to transmit movement and static charge in all directions), and the remoteness of the manipulator of singular positions to be determined [33]. When = 0, the robot is in a singular position, at which it is considered to be in a state out of control [17].…”

Section: Condition Indexmentioning

confidence: 99%

Morphological Synthesis and workspace design for a parallel manipulator with linear actuators

Montoya

Riaza

Madrid

2020

DYNA

View full text Add to dashboard Cite

This paper addresses the kinematic structure and workspace analysis of a parallel manipulator with linear actuators considering two studies.The first one was based on a morphological synthesis in which a kinematic connections approach was implemented. The set of combinations of joints and links for the desired system and their linkage are illustrated. Finally, the development regarding the conceivable morphologyis detailed, providing three linear degrees of freedom between the mobile and fixed platforms. The second study presented the dimensional synthesis of the manipulator, considering a workspace required and an input transmission index. The geometrical design was based on the maximum inscribed workspace volume; the cylindrical shape radius inscribed on a workspace intersection is also exemplified. The geometric determination of the workspace for the manipulator was demonstrated using computer-aided design. A design result of the Delta as checked with the stiffness and condition indices.

show abstract

Design and Optimization of the New Cable-Driven Ankle Rehabilitation Equipment

Huo

Duan

Shao

et al. 2021

Intelligent Robotics and Applications

View full text Add to dashboard Cite

Synthesis of planar parallel manipulators including dexterity, force transmission and stiffness index

Cited by 17 publications

References 41 publications

Design and Kinematic Analysis of a 4-SPS/U-based Four-level Rigid Trunk Mechanism

Design and Kinematic Analysis of a 4-SPS/U-based Four-level Rigid Trunk Mechanism

Morphological Synthesis and workspace design for a parallel manipulator with linear actuators

Design and Optimization of the New Cable-Driven Ankle Rehabilitation Equipment

Contact Info

Product

Resources

About