The design methodology for fewer input–more output parallel mechanisms

Shen, Huiping; Zhu, Xiaoqin; Zhang, Dan; Deng, Jiaming; Dai, Lifang

doi:10.1016/j.mechmachtheory.2016.05.019

Cited by 7 publications

(4 citation statements)

References 12 publications

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“…Besides, some scholars have proposed PM with fewer inputs and more outputs (Shen et al, 2016). These mechanisms are still the standard PMs, but use the coupled outputs for specific applications, such as parallel vibrating screens.…”

Section: Introductionmentioning

confidence: 99%

Design and Motion Principle Analysis of new parallel mechanisms with fewer active inputs than the degrees of freedom

Wang,

Qiu,

et al. 2024

Journal of Field Robotics

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In this paper, two new parallel mechanisms (PMs) with fewer active inputs than the degrees of freedom (DOFs)are proposed: (i) an nSPS (n = 7, 8, 9) six‐DOF PM with n‐6 active inputs and six lockable joints. and (ii) a 3RPS‐SPS 3‐DOF PM with one active input and three lockable joints. Compared with the traditional PMs, the difference is that the proposed PMs can achieve the same mobility by using a minimal number of active joints. Moreover, the load‐carrying capacity is also improved compared with the original standard mechanisms, since the new PMs become statically redundant when all the branches are locked. For this purpose, a sequential motion control principle is introduced that requires both inverse and forward kinematics of PMs. Kinematic modeling, dimensional optimization, and structural design are carried out for the 7SPS and 3RPS‐SPS mechanisms, and the two prototypes are constructed for experimental validation. Both simulation and experiment results have shown that the proposed hybrid PM can achieve the original mobility while significantly reducing the number of actuators.

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Section: Introductionmentioning

confidence: 99%

Design and Motion Principle Analysis of new parallel mechanisms with fewer active inputs than the degrees of freedom

Wang,

Qiu,

et al. 2024

Journal of Field Robotics

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“…35 A new concept of Fewer input-more output (Fi-Mo) mechanisms which possess the advantage of fully utilizing the PaMo is presented. 36 The dynamic modeling and performance analysis of a 3- P RRU PM of 1T2R type without PaMo are performed. 37 A methodology to get the PaMo governing equation from the structural constraint condition of velocity level for a 3- P RS PM is presented, and its comparison with position-level geometric method is carried out.…”

Section: Introductionmentioning

confidence: 99%

Investigation of parasitic motion in 3-RRS parallel manipulator

Jain,

Jawale

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper investigates the Parasitic Motion (PaMo) in a 3-Degree of Freedom (DoF) 3-RRS Spatial Parallel Manipulator (SPM) for its different link proportions. The position kinematic analysis of the manipulator is addressed initially. The PaMo is investigated and quantified as the percentage of Reachable Workspace (RW) for each link proportion at the tip of an End-Effector (EE), which is attached at the centroid of the moving platform. The PaMo which happens in the constrained DoF is an unwanted motion, and this entire process allows to know the total occupancy of PaMo in comparison to RW for each link proportion. The results are depicted with the aid of 3D plots of the reachable work-volume and the volume of PaMo for each link proportion. In order to evaluate the performance measure, a performance index called as the parasitic motion index ( PaMoI) is proposed. The PaMoI variation pattern is also discussed based on the obtained results. The conclusions are drawn at the end based on this investigation that also identify the provisions to minimize the PaMo.

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“…31,[50][51][52][53] Similarly, several works related to the parasitic motions have been found in the literature. [54][55][56][57][58][59][60][61][62] Among the different factors that affect the positional accuracy of a manipulator, the major one is link tolerance that contributes cumulatively in contrast to the other factors that affect randomly. Link tolerance, being an unavoidable phenomenon refers to an acceptable amount of dimensional variation that still allows the manipulator to function correctly.…”

Section: Introductionmentioning

confidence: 99%

“…31,50–53 Similarly, several works related to the parasitic motions have been found in the literature. 54–62…”

Section: Introductionmentioning

confidence: 99%

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

Jain,

Jawale

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper strives to compare between two 3-Degree of Freedom (DoF) Spatial Parallel Manipulators (SPMs) belonging to the 3-[PP]S-Y family viz., 3-RRS and 3-RPS. The planes of the manipulators belong to this family are arranged in a Y-pattern such that they intersect at 120° in a common line. Both of these manipulators have a common motion of 1T2R (T: Translation, R: Rotation) type, and their comparison in this work is carried out by considering the effects of link tolerance and parasitic motions, for the same task space and End-Effector (EE) positions. Their respective position kinematic analysis is discussed initially. The comparison is then carried out by considering two different cases based on the sizes of the moving platform relative to the base platform. The errors are quantified and all the comparative results are represented with the aid of plots. The conclusions are summarized at the end that allow to know the better of the two manipulators for the given effects.

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The design methodology for fewer input–more output parallel mechanisms

Cited by 7 publications

References 12 publications

Design and Motion Principle Analysis of new parallel mechanisms with fewer active inputs than the degrees of freedom

Design and Motion Principle Analysis of new parallel mechanisms with fewer active inputs than the degrees of freedom

Investigation of parasitic motion in 3-RRS parallel manipulator

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

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