Triple Scissor Extender: A 6-DOF lifting and positioning robot

Gonzalez, Daniel J.; Asada, H. Harry

doi:10.1109/icra.2016.7487215

Cited by 5 publications

(3 citation statements)

References 4 publications

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“…The Jacobian can be computed for each top plate pose by differentiating the two Kinematic Constraint Equations in a way similar to the singularity analysis. Details can be found in [12]. Examining all the singular values of the Jacobian reveals the ability of TSE to move in 6-dimensional space.…”

Section: Design Parameter Studies a Computation Of Kinematic Promentioning

confidence: 99%

“…The Triple Scissor Extender (TSE) differs from those designs in the number of DOFs and basic kinematic structure. The design concept and kinematic analysis of a particular TSE geometry has been presented in our prior work [12]. Here we a) present a general class of mechanisms and their kinematic model, b) analyze kinematic performance and singularity, c) introduce design parameters and study parameter sensitivities, and d) design a prototype with an application in aircraft assembly automation.…”

Section: Introductionmentioning

confidence: 99%

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Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly

Gonzalez

Asada

2017

IEEE Robot. Autom. Lett.

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A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing key geometric parameters, the TSE's design can yield a specific desired workspace volume and differential motion behavior. A general kinematic model for diverse TSEs is derived, and the kinematic properties, including workspace, singularity, and the Jacobian singular values, are evaluated. From these expressions, four key design parameters are identified, and their sensitivity upon the workspace volume and the Jacobian singular values is analyzed. A case study in autonomous aircraft assembly is presented using the insights gained from the design parameter studies.

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Section: Design Parameter Studies a Computation Of Kinematic Promentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly

Gonzalez

Asada

2017

IEEE Robot. Autom. Lett.

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“…The system was modeled using 20 sim commercial software package. Gonzalez [27] proposed novel six degree of freedom system robots for scissor lifting operations. This work proposed an intelligent mobile scissor lifting model for telecommunication outstation broadcasting operations in windy environments like Minna Metropolis.…”

Section: Introductionmentioning

confidence: 99%

Enhancement of mobile scissor lifting system for windy environments

Jack¹,

Essien²,

Bamisaye³

et al. 2021

Nig. J. Tech.

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This paper focuses on the enhancement of mobile scissor lifting system for windy environments. This study was necessitated in order to address the lack of support arm problem on the mobile scissor lifting system for the strong wind environment such as Minna in Niger State Nigeria. The outstation broadcasting operations in Minna metropolis are usually challenging during windy days as wind often affects the stability and efficiency of the outstation broad-casting platforms. This research employs electronic control circuit to control mechanical hydraulic actuated scissor lifting system in response to variations in wind speed. The mechanical components were designed using solidworks software. The control unit was remodeled using Proteus 8.0 software with the code written in Arduino integrated development environment (IDE). The model simulation results for both electronic and mechanical system reveal the possibility of achieving system stability with the resultant signal fidelity in outstation telecommunication broad-cast within windy areas. The experiment result shows that the system was capable of lifting the telecommunication platform 2 meters high within 20 seconds considering the load range of 500 to 1000 kg. An overload alert mechanism was incorporated to signal the operators of excessive loading. Then, the system automatically deploys its support arms to counter the attendant consequences of the strong wind thereby restoring the stability of the mobile scissor lift. Therefore, the authors conclude that the enhanced mobile scissor lifting system would be deployed in the windy environment for the maximum attainment of stability objectives while physical model from this design should be subsequently fabricated in the near future.

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