Workspace analysis of 3-DOF U-shape base planar parallel robotic motion stage using shape memory alloy restoration technique (SMART) linear actuators

Singh, Deep; Choudhury, Rutupurna; Singh, Yogesh; Mukherjee, Manidipto

doi:10.1007/s42452-021-04490-y

Cited by 8 publications

(4 citation statements)

References 54 publications

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“…The first joint at each limb of the 3-DOF planar parallel manipulator is considered to be an active prismatic joint (P) because of its multiple advantages, such as modular design, back drivability, compactness, reduction in link interferences, large singularity-free workspace, simple kinematic arrangement, ease of control, and low inertial properties of the moving system [32,33]. Every limb of this planar parallel manipulator begins with an active prismatic joint followed by passive joints and links that connects fixed base to the end-effector.…”

Section: Kinematics Analysis Of the 3-prr Robotmentioning

confidence: 99%

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Silicon-based soft parallel robots 4D printing and multiphysics analysis

Zolfagharian

Gharaie²,

Kouzani³

et al. 2022

Smart Mater. Struct.

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Four-dimensional (4D) printing has set the stage for a new generation of soft robotics. The applications of rigid planar parallel robotic manipulators are also significant because of their various desirable characteristics, such as lower inertia, higher payload, and high accuracy. However, rigid planar parallel robots are heavy and require different actuators and components. This study introduces a novel technique to produce a light three degrees of freedom (DOF) soft parallel manipulator at a low cost, which can be stimulated easily. This technique allows researchers to customize the actuator’s design based on the requirement. The robot is made by 3D printing based on fused deposition modelling (FDM) and a direct ink writing (DIW) process. The design, development, and additive manufacturing (AM) of a soft parallel robot electrothermally driven by a linear silicon-based actuator and polylactic acid (PLA) parts are presented. Silicon-based soft actuators replace the rigid conventional linear actuators in this study to drive the planar parallel manipulator. The actuation of actuators is conducted using simple heating compared to the conventional rigid actuator. Various heating approaches and configurations are compared and analysed to find the most suitable one for the effective linear stroke of the soft actuator. The finite element model (FEM) is used to analyse the performance of the electrothermally silicon-ethanol soft actuators in ABAQUS. The kinematics of the planar parallel robotic manipulator are simulated in MATLAB to achieve its workspace. The final soft parallel robot mechanism and the active and passive links are fabricated and tested experimentally.

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Section: Kinematics Analysis Of the 3-prr Robotmentioning

confidence: 99%

“…The angles of each of the prismatic joints made with the connecting rods are marked as θ i (i = 2, 4, 6). Forward and inverse kinematics have been simulated in MATLAB as per the following equations [33].…”

Section: Kinematics Analysis Of the 3-prr Robotmentioning

confidence: 99%

Silicon-based soft parallel robots 4D printing and multiphysics analysis

Zolfagharian

Gharaie²,

Kouzani³

et al. 2022

Smart Mater. Struct.

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“…These joints possess various drawbacks like friction, backlash in the joint, slower response, and higher noise. Therefore, to increase the position accuracy, conventional joints are replaced by compliant/flexible joints, such as using Shape memory alloy [14,16]. Therefore, a new type of SMA-driven motion stage can be developed using Shape memory alloy (SMA) as a linear actuator.…”

Section: Introductionmentioning

confidence: 99%

Design development and control of a shape memory alloy linear actuation based XYθ motion stage

Choudhury

Singh

2023

Eng. Res. Express

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This article addresses the development and trajectory tracking analysis of the three degrees of freedom Shape memory alloy (SMA) actuation-based 4-PPR XYθ motion stage. The developed motion stage is of four legs of the PPR (Prismatic-Prismatic-Revolute) configuration, having the first prismatic joint as the active joint. SMA spring is incorporated as the linear actuator of the motion stage. The three degrees of freedom motion of the end-effector is achieved based on a new type of SMA-driven PPR joint configuration to provide two translations and one rotational motion. The advantages of the SMA as an actuator is such as lightweight, higher accuracy, and micron-level movement to establish linear motion and silent actuation. The kinematic and jacobian relations are derived for the developed motion stage. The actuation of the SMA (Nitinol) spring actuator is accomplished by the use of a programmable power supply. In addition, the close loop PID control scheme to the SMA linear actuator is investigated. The mechanism has some inherent errors, as geometric errors (kinematic error), friction between the elements of the mechanism, etc., are significant issues in tracking the trajectory of the motion stage. Thus, to address the above issues, this study incorporates the dual-loop control scheme for better trajectory tracking and error compensation of the proposed motion stage. The control method employs a redundant feedback approach, in which discrete joint space displacements and mobile platform coordinates, and task space coordinates are determined as feedback signal using suitable sensors. In this control scheme, the actual joint displacement errors are computed using the redundant feedback data and corrected the desired joint displacement trajectory to obtain the desired task space trajectory. To measure the effectiveness of the used control scheme, a real-time prototype of the proposed motion stage (4-PPR) is developed and investigated the performance of the control method using some simple geometric trajectories. It is observed from the experiments that the motion stage using SMA linear actuation technique has good tracking performance using the control scheme. The developed motion stage can be implemented in the micro-stereolithography process and micron-level positioning application.

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“…Alireza et al 11 developed a 2 DoF modular flexible parallel robot using four SMA springs but not much focus was devoted towards control strategy and usage of minimum actuators for its actuation. Deep singh et al 16 developed a planar parallel robot using SMA springs and various configurations were analyzed.…”

Section: Introductionmentioning

confidence: 99%

Intelligent controller for robust orientation control of smart actuator based parallel manipulator

Ganesan

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Flexible parallel manipulators can be used as an orienting device due to its precise positioning ability. The flexibility demands the use of non-conventional actuators and noncontact type/flexible sensors for feedback measurement. This study proposes a novel 2 Degree of Freedom (DoF) parallel manipulator actuated by shape memory alloy springs (SMA) which could be used as an orienting device for a table top Cartesian robot. To mitigate the use of contact type sensor, model based feedback is proposed to obtain SMA length for the feedback control. The inclusion of SMA actuators to parallel mechanism imposes control challenges due to nonlinearities, coupling effects, and disturbances. This work also proposes a novel control scheme based on concept of partition control law to control the SMA spring position without the use of any complex mathematical model. The proposed controller is a combination of two parts Fuzzy PID servo control and the time delay estimation (TDE) based auxiliary control. The fuzzy PID control handles the error tracking and the auxiliary control tries to cancel the nonlinearities and disturbances, thus enhancing the robustness. The performance of the proposed controller is tested for a complex trajectory under disturbances and the results are compared with existing nonlinear controllers which proves superior nature of the proposed controller.

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Workspace analysis of 3-DOF U-shape base planar parallel robotic motion stage using shape memory alloy restoration technique (SMART) linear actuators

Cited by 8 publications

References 54 publications

Silicon-based soft parallel robots 4D printing and multiphysics analysis

Silicon-based soft parallel robots 4D printing and multiphysics analysis

Design development and control of a shape memory alloy linear actuation based XYθ motion stage

Intelligent controller for robust orientation control of smart actuator based parallel manipulator

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