Force-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures

Size: px
Start display at page:

Download "Force-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures"

Transcription

1 Force-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures S. B. Nokleby F. Firmani A. Zibil R. P. Podhorodeski UOIT University of Victoria University of Victoria University of Victoria Oshawa, Canada Victoria, Canada Victoria, Canada Victoria, Canada Abstract The force-moment capabilities of redundantlyactuated planar-parallel manipulator (PPM) architectures are investigated. A previously developed explicit methodology for generating the force-moment capabilities of redundantly-actuated PPMs is used on three different architectures. The results for the 3-RRR, 3-RPR, 3-PRR layouts, where the underline denotes the actuated joints, are presented and discussed. Keywords: planar parallel manipulators, redundantly-actuated, force-moment capabilities I. Introduction The force-moment capability of a manipulator is defined as the maximum wrench that can be applied (or sustained) by a manipulator. This capability is for a given pose and is based on the limits of its actuators. Redundancy in parallel manipulators (PMs) can be divided into four categories. The first category features actuating some of the passive joints within the branches of a PM. For example, consider the three-branch planar parallel manipulator (PPM) with three-revolute joints per branch, the 3-RRR device [9]. For a non-redundant device, one joint per branch must be actuated. By actuating an additional joint in one or more branches, the PPM is redundantly actuated. The second category of redundant manipulators are those that feature additional branches beyond the minimum necessary to actuate the device. Again considering the 3-RRR device, if an additional branch (featuring an actuated joint within the branch) is added to the device, the device would be a redundantly actuated 4-RRR manipulator. The third category features branches that are joint redundant, i.e., there are additional actuated joints added to one or more of the branches to form redundant serial chains. The final category of redundant PMs are devices that are a hybrid of the first three categories. This paper focuses on the force-moment capabilities of redundant PPM architectures that fall within the first category, i.e., those that feature actuating additional passive joints within the branches. Recently, there has been a growing interest in the re- scott.nokleby@uoit.ca ffirmani@me.uvic.ca azibil@me.uvic.ca podhoro@me.uvic.ca UOIT: University of Ontario Institute of Technology search community into redundantly-actuated PMs (see for example [1 8, 10 18]). This growing interest is due to the benefits associated with redundant actuation. With redundant actuation, the solution to the inverse force problem (given the desired wrench to be applied by the platform, what are the required joint torques/forces) no longer has a unique solution. An infinity of possible solutions exists to the inverse force problem. This infinity of possible solutions allows the joint torques/forces to be optimized. In addition, redundant actuation eliminates force-unconstrained configurations 1. For the three-branch PPM layouts, there are seven possible architectures: RRR, RPR, PRR, RRP, PPR, RPP, and PRP, where R and P denote a revolute and prismatic joint, respectively. Of these seven architectures, PRR and the RRP are kinematically equivalent. Likewise, the PPR and RPP are kinematically equivalent. Considering only one of the kinematically equivalent architectures leaves only five unique architectures. For this work, those architectures with two prismatic joints are not considered as they are not convenient for implementation as PPMs. As such only the RRR, RPR, and PRR architectures are studied. The force-moment capabilities are critical in the design and development of PMs. For a given application, a designer needs to know the capabilities of the manipulator that is being developed. By being able to graphically visualize the force-moment capabilities, comparisons between different design parameters, including actuator output and link lengths, can easily be explored. The designer can then optimize the design according to the force-moment capabilities required for a specific task. The goal of this paper is to investigate the force-moment capabilities of the 3- RRR, 3-RPR, and 3-PRR, where the underline denotes the joints that are actuated within each branch. To determine the force-moment capabilities, a methodology developed by Zibil et al. [19,20] of determining the force-moment capabilities of redundantly-actuated PMs in an explicit manner is employed. The paper first briefly summarizes the methodology of Zibil et al. [19, 20]. Next, the force-moment capabilities for 1 A force-unconstrained configuration is a configuration in which the platform of a parallel manipulator cannot sustain or apply an arbitrary force and instantaneously gains an uncontrollable degree-of-freedom (DOF) of motion.

2 the 3-RRR, 3-RPR, and 3-PRR PPMs are presented. This is followed by a discussion of the results. The paper finishes with proposals for future work and conclusions. II. Explicit Methodology for the Determination of Force-Moment Capabilities In previous work (see [17]) it has been observed that greater output wrenches are obtained when the individual actuators are close to their maximum capabilities. In [19, 20] a solution is developed to explicitly set the largest number of actuators to their maximum capabilities while ensuring the correct output direction and prescribed moment. Assume that the PPM has k actuated joints. The forward force solution yields: [$ D] 3 k τ k 1 = F 3 1 (1) where τ is a vector of the actuated joint torques or forces and [$ ] is the matrix of associated reciprocal screw quantities. In equation (1), [D] is a diagonal matrix which converts the vector of joint torques/forces to a vector of wrench intensities. For the purposes of this work, F can be expressed as [f cos(α), f sin(α); m z ] T ; with f being the wrench intensity, α being the direction and m z being the moment of the output wrench. All the elements of [$ D] are known through the geometry and the pose of the manipulator. Thus, the elements of τ and F are unknown, i.e., there are k + 3 variables. With three equations to satisfy, k variables can be set arbitrarily. By properly adjusting the six actuator outputs for different scenarios, Zibil, et al. [20] formulated four studies of the force-moment capabilities of the 3-RRR PPM, namely: i) the maximum/minimum pure forces, ii) the maximum pure moments, iii) the maximum/minimum applicable forces with an associated moment; and iv) the maximum applicable moment with an associated force. The details of these formulations are presented in [20] and will not be covered here due to space limitations. For case (i), by varying α through 360 the unknowns of equation (1) are f and two actuator outputs (torques for revolute joints or forces for prismatic joints). Thus there are four actuator outputs that are acting at their maximum capabilities (either positive or negative). For case (ii), the unknowns of equation (1) are m z and two actuator outputs. Thus there are four actuator outputs that are acting at their maximum capabilities. For case (iii), by varying α through 360 the unknowns of equation (1) are f, m z and one actuator output. Thus there are five actuator outputs that are acting at their maximum capabilities. For case (iv), the unknowns of equation (1) are f, α, and m z. Thus all actuator outputs are acting at their maximum capabilities. The developed explicit methodology of [19, 20] was shown to be significantly more efficient than optimizationbased methods [17, 18] for resolving the inverse force problem for redundantly-actuated PPMs. Hence, it was used to perform the analysis presented in this paper. III. Force-Moment Capabilities Figure 1 shows the layouts for the 3-RRR, 3-RPR, 3- PRR, respectively. For the 3-RRR, the base triangle edge length was 0.5 m, the end-effector triangle edge length was 0.2 m, and the lengths of the first and second links of each branch were 0.2 m. The torque limits of the base revolute joints were ±4.2 Nm, and the torque limits of the elbow revolute joints were ±2.1 Nm. For the 3-RPR, the base triangle edge length was 0.5 m, the end-effector triangle edge length was 0.2 m, the prismatic joints extension limits were 0.4 m and the force limits were ±10 N, and the torque limits of the base revolute joints were ±4.2 Nm. For the 3-PRR, the base triangle edge length was 0.5 m, the end-effector triangle edge length was 0.2 m, the prismatic joints orientations were 0, 120, 240 (see the right plot of Figure 1), the prismatic joints extension limits were 1 m and the force limits were ±10 N, the lengths of the second links were 0.23 m, and the torque limits of the elbow revolute joints were ±2.1 Nm. For this work, the platform orientations are held constant at 0 (as shown in Figure 1). Also, for the eight possible inverse displacement solutions for both the 3-RRR and the 3-PRR, only the assembly modes shown in Figure 1 are used. Figures 2, 3, and 4 show the force-capabilities of the 3- RRR, 3-RPR, 3-PRR, respectively. For each figure, each column of plots are associated. From top to bottom, for the first column the plots are: i) the minimum of the maximum resultant forces among all directions throughout the workspace of the manipulator; ii) the minimum of the maximum applicable forces with an associated moment that can be applied or sustained in any direction; and iii) the associated moments of the minimum of the maximum applicable forces shown in (ii). From top to bottom, for the second column the plots are: iv) the maximum of the maximum resultant forces among all directions throughout the manipulator s workspace; v) the maximum of the maximum applicable forces with an associated moment among all directions; and vi) the associated moments of the maximum of the maximum applicable forces shown in (v). From top to bottom, for the third column the plots are: vii) the maximum pure moments that can applied or sustained throughout the manipulator s workspace; viii) the maximum applicable moments with an associated force; and ix) the associated forces of the maximum applicable moments shown in (viii). In Figures 2, 3, and 4, due to the fact that for a few poses, the values obtained are very large compared to the rest of the poses in the workspace, therefore, the values for some of

3 12th IFToMM World Congress, Besanc on, June 18-21, 2007 Fig. 1. The PPM Layouts: 3-RRR (left), 3-RPR (middle), 3-PRR (right) Fig. 2. The force-moment capabilities of the 3-RRR. the plots have been capped to give a better overall greyscale gradient. The maximum and minimum values achieved for each analysis are presented in Tables I, II, and III.

4 12th IFToMM World Congress, Besanc on, June 18-21, 2007 Fig. 3. The force-moment capabilities of the 3-RPR. i) iv) vii) Max: N Min: N Min: N ii) v) viii) Min: N Min: N iii) vi) ix) Max: 8.40 Nm Min: 3.73 Nm Min: 5.55 Nm Min: 0.11 N TABLE I. The maximum and minimum values for the nine sub-plots of Figure 2 for the 3-RRR. i) iv) vii) Max: N Max: N Max: 6.28 Nm Min: N Min: N ii) v) viii) Min: N Min: N iii) vi) ix) Max: 8.40 Nm Min: 3.63 Nm Min: 4.47 Nm Min: 0 N TABLE II. The maximum and minimum values for the nine sub-plots of Figure 3 for the 3-RPR. IV. Discussion Referring to Figures 2, 3, and 4, a number of observations can be made. The most obvious difference is in the shape of the workspace of the 3-PRR, compared with the other two PPMs. This is completely due to the geometric properties

5 Fig. 4. The force-moment capabilities of the 3-PRR. i) Max: N Min: N ii) Min: N iii) Max: Nm Min: 4.40 Nm iv) Min: N v) Min: N vi) Min: 5.91 Nm vii) viii) ix) Min: 0 N TABLE III. The maximum and minimum values for the nine sub-plots of Figure 4 for the 3-PRR. of the 3-PRR and not a result of the redundant actuation. In terms of the force-moment capabilities, the 3-RRR (Figure 2) and 3-RPR (Figure 3) have very similar plots with only minor differences. Looking closely at the plots between these two manipulators, the plots for the 3-RRR (Figure 2) appear to be distortions of the plots of the 3- RPR (Figure 3). The distortions are due to the force capabilities of the second revolute joints in the branches of the 3-RRR being moment-arm (and therefore pose) dependent. The maximum forces and moments achieved by these two layouts are comparable. It is worthy of mention that the non-redundantly actuated 3-RRR and 3-RPR are kinematically equivalent. Thus elements of symmetry are expected to happen.

6 Referring to Figure 2 for the 3-RRR, the locations with large force-moment capabilities correspond to poses where the manipulator is at or near singular configurations. Infinite values at the limits of the workspace correspond to configurations where the manipulator has a fully extended arm. Infinite values within the workspace occur when the manipulator has one arm folded back on itself. Referring to Figure 3 for the 3-RPR, the locations with large force-moment capabilities correspond to poses where the manipulator has one prismatic joint at or close to zero, i.e., a singular configuration. Note that this singularity occurs within the workspace. Referring to Figure 4 for the 3-PRR, the singular configurations, i.e., locations with large force-moment capabilities, correspond to poses where the second link of a branch is perpendicular to the fixed prismatic joint. Note that this singularity occurs at the boundary of the workspace. The plots generated are a useful way to visualize the complete force-moment capabilities of a given PPM layout. As a design tool they allow for easy visualization of the differences in force-moment capabilities. V. Proposals for Future Work The results presented here are based on symmetric actuation schemes. Studies into the effects of non-symmetric actuating schemes could be undertaken. This work focused on redundant PPMs featuring the actuation of some of the passive joints within the branches of the PPM. Another avenue of future study would be to investigate the force-moment capabilities of redundant PPMs that feature additional branches to achieve redundancy. Explorations of the effects on the force-moment capabilities of modifying the geometric parameters, the assembly modes, and the platform orientation of the three PPMs considered could also be investigated. VI. Conclusion A previously developed explicit methodology for generating the force-moment capabilities of redundantlyactuated PPM was used to determine the force-moment capabilities of the three PPM architectures. The results for the 3-RRR, 3-RPR, 3-PRR layouts were presented. It was shown that the force-moment capabilities for the 3-RRR and 3-RPR were very similar. An analysis was carried out on the effects of singular configurations on the forcemoment capabilities. The plots presented are a useful way to visualize the complete force-moment capabilities of a given PPM architecture. References [1] Beiner, L. Redundant Actuation of a Closed-Chain Device. Advanced Robotics, 11(3): , [2] Buttolo, P. and Hannaford, B. Advantages of Actuation Redundancy for the Design of Haptic Displays. In Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition - Part 2, pp , San Francisco, USA, November 12-17, [3] Cheng, H., Liu, G. F., Yiu, Y. K., Xiong, Z. H., and Li, Z. X. Advantages and Dynamics of Parallel Manipulators with Redundant Actuation. In Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp , Maui, USA, October 29 - November 3, [4] Cheng, H., Yiu, Y.-K., and Li., Z. Dynamics and Control of Redundantly Actuated Parallel Manipulators. IEEE Transactions on Mechatronics, 8(4): , [5] Dasgupta, B. and Mruthyunjaya, T. S. Force Redundancy in Parallel Manipulators: Theoretical and Practical Issues. Mechanism and Machine Theory, 33(6): , [6] Firmani, F. and Podhorodeski, R. P. Force-Unconstrained Poses for a Redundantly-Actuated Planar Parallel Manipulator. Mechanism and Machine Theory, 39(5): , [7] Ganovski, L. L., Fisette, P., and Samin, J.-C. Modeling of Overactuated Closed-Loop Mechanisms with Singularities: Simulation and Control. In Proceedings of the 2001 ASME Design Engineering Technical Conferences and the Computers and Information in Engineering Conference, 8 pages, Pittsburgh, USA, September 9-12, [8] Gonzalez, L. J. and Sreenivasan, S. V. Representational Singularities in the Torque Optimization Problem of an Active Closed Loop Mechanism. Mechanism and Machine Theory, 35(6): , [9] Gosselin, C. and Angeles, J. Singularity Analysis of Closed-Loop Kinematic Chains. IEEE Transactions on Robotics and Automation, 6(3): , [10] Kerr, D. R., Griffis, M., Sanger, D. J., and Duffy, J. Redundant Grasps, Redundant Manipulators, and Their Dual Relationship. Journal of Robotic Systems, 9(7): , [11] Kim, H. S. and Choi, Y. J. The Kinetostatic Capability Analysis of Robotic Manipulators. In Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp , Kyongju, South Korea, October 17-21, [12] Kurtz, R. and Hayward, V. Multiple-Goal Kinematic Optimization of a Parallel Spherical Mechanism with Actuator Redundancy. IEEE Transactions on Robotics and Automation, 8(5): , [13] Lee, S. and Kim, S. Kinematic Feature Analysis of Parallel Manipulator Systems. In Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp , San Diego, USA, May 8-13, [14] Lee, S. H., Yi, B.-J., Kim, S. H., and Kwak, Y. K. Control of Impact Disturbance by Redundantly Actuated Mechanism. In Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp , Seoul, South Korea, May 21-26, [15] Liu, G. F. and Wu, Y. L. and Wu, X. Z. and Kuen, Y. Y. and Li, Z. X. Analysis and Control of Redundant Parallel Manipulators. In Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp , Seoul, South Korea, May 21-26, [16] Merlet, J.-P. Redundant Parallel Manipulators. Laboratory Robotics and Automation, 8(1):17-24, [17] Nokleby, S. B., Fisher, R., Podhorodeski, R. P., and Firmani, F. Force Capabilities of Redundantly-Actuated Parallel Manipulators. Mechanism and Machine Theory, 40(5): , [18] Nokleby S. B. Force-Moment Capabilities of Planar-Parallel Manipulators Using Different Redundant-Actuation Configurations. Transactions of the CSME, 29(4): , [19] Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P. An Analytic Method for Determining the Force-Moment Capabilities of Redundantly-Actuated Planar Parallel Manipulators. In Proceedings of the 2006 CSME Forum, 12 pages, Kananaskis, Canada, May 21-24, [20] Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P. An Analytic Method for Determining the Force Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators. To appear in Transactions of the ASME, Journal of Mechanical Design.

DYNAMIC ANALYSIS AND OPTIMIZATION OF A KINEMATICALLY-REDUNDANT PLANAR PARALLEL MANIPULATOR

DYNAMIC ANALYSIS AND OPTIMIZATION OF A KINEMATICALLY-REDUNDANT PLANAR PARALLEL MANIPULATOR DYNAMIC ANALYSIS AND OPTIMIZATION OF A KINEMATICALLY-REDUNDANT PLANAR PARALLEL MANIPULATOR Journal: Transactions of the Canadian Society for Mechanical Engineering Manuscript ID TCSME-2017-0003.R1 Manuscript

More information

Constraint and velocity analysis of mechanisms

Constraint and velocity analysis of mechanisms Constraint and velocity analysis of mechanisms Matteo Zoppi Dimiter Zlatanov DIMEC University of Genoa Genoa, Italy Su S ZZ-2 Outline Generalities Constraint and mobility analysis Examples of geometric

More information

Graphical Singularity Analysis of Planar Parallel Manipulators

Graphical Singularity Analysis of Planar Parallel Manipulators Proceedings of the 006 IEEE International Conference on Robotics and Automation Orlando, Florida - May 006 Graphical Singularity Analysis of Planar Parallel Manipulators Amir Degani a The Robotics Institute

More information

EEE 187: Robotics Summary 2

EEE 187: Robotics Summary 2 1 EEE 187: Robotics Summary 2 09/05/2017 Robotic system components A robotic system has three major components: Actuators: the muscles of the robot Sensors: provide information about the environment and

More information

ACOMPARISON of the number of independent actively. Design and Analysis of Kinematically Redundant Parallel Manipulators With Configurable Platforms

ACOMPARISON of the number of independent actively. Design and Analysis of Kinematically Redundant Parallel Manipulators With Configurable Platforms IEEE TRANSACTIONS ON ROBOTICS, VOL 21, NO 3, JUNE 2005 277 Design and Analysis of Kinematically Redundant Parallel Manipulators With Configurable Platms Maher G Mohamed and Clément M Gosselin, Member,

More information

Inverse Kinematics. Given a desired position (p) & orientation (R) of the end-effector

Inverse Kinematics. Given a desired position (p) & orientation (R) of the end-effector Inverse Kinematics Given a desired position (p) & orientation (R) of the end-effector q ( q, q, q ) 1 2 n Find the joint variables which can bring the robot the desired configuration z y x 1 The Inverse

More information

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots Ilian A. Bonev 1, Sébastien Briot 1, Philippe Wenger 2 and Damien Chablat 2 1 École de technologie

More information

Resolution of spherical parallel Manipulator (SPM) forward kinematic model (FKM) near the singularities

Resolution of spherical parallel Manipulator (SPM) forward kinematic model (FKM) near the singularities Resolution of spherical parallel Manipulator (SPM) forward kinematic model (FKM) near the singularities H. Saafi a, M. A. Laribi a, S. Zeghloul a a. Dept. GMSC, Pprime Institute, CNRS - University of Poitiers

More information

Kinematic Analysis and Optimum Design of 8-8 Redundant Spatial In-Parallel Maniputator

Kinematic Analysis and Optimum Design of 8-8 Redundant Spatial In-Parallel Maniputator Kinematic Analysis and Optimum Design of 8-8 Redundant Spatial In-Parallel Maniputator P.Chinna Srinivas M.Tech(CAD/CAM) Department Of Mechanical Engineering Jb Institute Of Engineering& Technology,Moinabad(Mdl)

More information

An Efficient Method for Solving the Direct Kinematics of Parallel Manipulators Following a Trajectory

An Efficient Method for Solving the Direct Kinematics of Parallel Manipulators Following a Trajectory An Efficient Method for Solving the Direct Kinematics of Parallel Manipulators Following a Trajectory Roshdy Foaad Abo-Shanab Kafr Elsheikh University/Department of Mechanical Engineering, Kafr Elsheikh,

More information

Redundancy Resolution by Minimization of Joint Disturbance Torque for Independent Joint Controlled Kinematically Redundant Manipulators

Redundancy Resolution by Minimization of Joint Disturbance Torque for Independent Joint Controlled Kinematically Redundant Manipulators 56 ICASE :The Institute ofcontrol,automation and Systems Engineering,KOREA Vol.,No.1,March,000 Redundancy Resolution by Minimization of Joint Disturbance Torque for Independent Joint Controlled Kinematically

More information

Workspace and singularity analysis of 3-RRR planar parallel manipulator

Workspace and singularity analysis of 3-RRR planar parallel manipulator Workspace and singularity analysis of 3-RRR planar parallel manipulator Ketankumar H Patel khpatel1990@yahoo.com Yogin K Patel yogin.patel23@gmail.com Vinit C Nayakpara nayakpara.vinit3@gmail.com Y D Patel

More information

EE Kinematics & Inverse Kinematics

EE Kinematics & Inverse Kinematics Electric Electronic Engineering Bogazici University October 15, 2017 Problem Statement Kinematics: Given c C, find a map f : C W s.t. w = f(c) where w W : Given w W, find a map f 1 : W C s.t. c = f 1

More information

Novel 6-DOF parallel manipulator with large workspace Daniel Glozman and Moshe Shoham

Novel 6-DOF parallel manipulator with large workspace Daniel Glozman and Moshe Shoham Robotica: page 1 of 5. 2009 Cambridge University Press doi:10.1017/s0263574708005286 Novel 6-DOF parallel manipulator with large workspace Daniel Glozman and Moshe Shoham Robotics Laboratory, Department

More information

Industrial Robots : Manipulators, Kinematics, Dynamics

Industrial Robots : Manipulators, Kinematics, Dynamics Industrial Robots : Manipulators, Kinematics, Dynamics z z y x z y x z y y x x In Industrial terms Robot Manipulators The study of robot manipulators involves dealing with the positions and orientations

More information

Kinematics of Closed Chains

Kinematics of Closed Chains Chapter 7 Kinematics of Closed Chains Any kinematic chain that contains one or more loops is called a closed chain. Several examples of closed chains were encountered in Chapter 2, from the planar four-bar

More information

Singularity Loci of Planar Parallel Manipulators with Revolute Joints

Singularity Loci of Planar Parallel Manipulators with Revolute Joints Singularity Loci of Planar Parallel Manipulators with Revolute Joints ILIAN A. BONEV AND CLÉMENT M. GOSSELIN Département de Génie Mécanique Université Laval Québec, Québec, Canada, G1K 7P4 Tel: (418) 656-3474,

More information

Dynamic Analysis of Manipulator Arm for 6-legged Robot

Dynamic Analysis of Manipulator Arm for 6-legged Robot American Journal of Mechanical Engineering, 2013, Vol. 1, No. 7, 365-369 Available online at http://pubs.sciepub.com/ajme/1/7/42 Science and Education Publishing DOI:10.12691/ajme-1-7-42 Dynamic Analysis

More information

ON THE RE-CONFIGURABILITY DESIGN OF PARALLEL MACHINE TOOLS

ON THE RE-CONFIGURABILITY DESIGN OF PARALLEL MACHINE TOOLS 33 ON THE RE-CONFIGURABILITY DESIGN OF PARALLEL MACHINE TOOLS Dan Zhang Faculty of Engineering and Applied Science, University of Ontario Institute of Technology Oshawa, Ontario, L1H 7K, Canada Dan.Zhang@uoit.ca

More information

Optimum Design of Kinematically Redundant Planar Parallel Manipulator Following a Trajectory

Optimum Design of Kinematically Redundant Planar Parallel Manipulator Following a Trajectory International Journal of Materials, Mechanics and Manufacturing, Vol., No., May 1 Optimum Design of Kinematically Redundant Planar Parallel Manipulator Following a rajectory K. V. Varalakshmi and J. Srinivas

More information

mme.modares.ac.ir Dynamic Modeling and Sliding Mode Control of a Three DOF Parallel Robot with 3[P2(US)] Structure .[1] .[5,4]

mme.modares.ac.ir Dynamic Modeling and Sliding Mode Control of a Three DOF Parallel Robot with 3[P2(US)] Structure .[1] .[5,4] 68-61161395 mme.modares.ac.ir 3[P2(US)] 3 * 2 1-1 -2-3 mo_taghizadeh@sbu.ac.ir 1743524155 *.. -..... 1395 25 : 1395 22 : 1395 11 : 3[P2(US)] Dynamic Modeling and Sliding Mode Control of a Three DOF Parallel

More information

An Improved Dynamic Modeling of a 3-RPS Parallel Manipulator using the concept of DeNOC Matrices

An Improved Dynamic Modeling of a 3-RPS Parallel Manipulator using the concept of DeNOC Matrices An Improved Dynamic Modeling of a 3-RPS Parallel Manipulator using the concept of DeNOC Matrices A. Rahmani Hanzaki, E. Yoosefi Abstract A recursive dynamic modeling of a three-dof parallel robot, namely,

More information

SYNTHESIS OF PLANAR MECHANISMS FOR PICK AND PLACE TASKS WITH GUIDING LOCATIONS

SYNTHESIS OF PLANAR MECHANISMS FOR PICK AND PLACE TASKS WITH GUIDING LOCATIONS Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2013 August 4-7, 2013, Portland, Oregon, USA DETC2013-12021

More information

Direct kinematics and analytical solution to 3RRR parallel planar mechanisms

Direct kinematics and analytical solution to 3RRR parallel planar mechanisms University of Wollongong Research Online Faculty of Engineering - Papers (Archive) Faculty of Engineering and Information Sciences 006 Direct kinematics and analytical solution to 3RRR parallel planar

More information

ÉCOLE POLYTECHNIQUE DE MONTRÉAL

ÉCOLE POLYTECHNIQUE DE MONTRÉAL ÉCOLE POLYTECHNIQUE DE MONTRÉAL MODELIZATION OF A 3-PSP 3-DOF PARALLEL MANIPULATOR USED AS FLIGHT SIMULATOR MOVING SEAT. MASTER IN ENGINEERING PROJET III MEC693 SUBMITTED TO: Luc Baron Ph.D. Mechanical

More information

Workspaces of planar parallel manipulators

Workspaces of planar parallel manipulators Workspaces of planar parallel manipulators Jean-Pierre Merlet Clément M. Gosselin Nicolas Mouly INRIA Sophia-Antipolis Dép. de Génie Mécanique INRIA Rhône-Alpes BP 93 Université Laval 46 Av. Felix Viallet

More information

Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N 1

Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N 1 David H. Myszka e-mail: dmyszka@udayton.edu Andrew P. Murray e-mail: murray@notes.udayton.edu University of Dayton, Dayton, OH 45469 James P. Schmiedeler The Ohio State University, Columbus, OH 43210 e-mail:

More information

Singularity Management Of 2DOF Planar Manipulator Using Coupled Kinematics

Singularity Management Of 2DOF Planar Manipulator Using Coupled Kinematics Singularity Management Of DOF lanar Manipulator Using oupled Kinematics Theingi, huan Li, I-Ming hen, Jorge ngeles* School of Mechanical & roduction Engineering Nanyang Technological University, Singapore

More information

FREE SINGULARITY PATH PLANNING OF HYBRID PARALLEL ROBOT

FREE SINGULARITY PATH PLANNING OF HYBRID PARALLEL ROBOT Proceedings of the 11 th International Conference on Manufacturing Research (ICMR2013), Cranfield University, UK, 19th 20th September 2013, pp 313-318 FREE SINGULARITY PATH PLANNING OF HYBRID PARALLEL

More information

DOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT

DOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT DOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT V. BRODSKY, D. GLOZMAN AND M. SHOHAM Department of Mechanical Engineering Technion-Israel Institute of Technology Haifa, 32000 Israel E-mail:

More information

A New Algorithm for Measuring and Optimizing the Manipulability Index

A New Algorithm for Measuring and Optimizing the Manipulability Index DOI 10.1007/s10846-009-9388-9 A New Algorithm for Measuring and Optimizing the Manipulability Index Ayssam Yehia Elkady Mohammed Mohammed Tarek Sobh Received: 16 September 2009 / Accepted: 27 October 2009

More information

Synthesis of Constrained nr Planar Robots to Reach Five Task Positions

Synthesis of Constrained nr Planar Robots to Reach Five Task Positions Robotics: Science and Systems 007 Atlanta, GA, USA, June 7-30, 007 Synthesis of Constrained nr Planar Robots to Reach Five Task Positions Gim Song Soh Robotics and Automation Laboratory University of California

More information

FORCE CAPABILITY MAXIMIZATION OF A 3RRR SYMMETRIC PARALLEL MANIPULATOR BY TOPOLOGY OPTIMIZATION

FORCE CAPABILITY MAXIMIZATION OF A 3RRR SYMMETRIC PARALLEL MANIPULATOR BY TOPOLOGY OPTIMIZATION FORCE CAPABILITY MAXIMIZATION OF A 3RRR SYMMETRIC PARALLEL MANIPULATOR BY TOPOLOGY OPTIMIZATION L. Mejia Universidade Federal de Santa Catarina, 884-9 Florianópolis SC Brazil mejiarinconleonardo@gmail.com

More information

Theory of Robotics and Mechatronics

Theory of Robotics and Mechatronics Theory of Robotics and Mechatronics Final Exam 19.12.2016 Question: 1 2 3 Total Points: 18 32 10 60 Score: Name: Legi-Nr: Department: Semester: Duration: 120 min 1 A4-sheet (double sided) of notes allowed

More information

Robot mechanics and kinematics

Robot mechanics and kinematics University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2016/17 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot

More information

Table of Contents Introduction Historical Review of Robotic Orienting Devices Kinematic Position Analysis Instantaneous Kinematic Analysis

Table of Contents Introduction Historical Review of Robotic Orienting Devices Kinematic Position Analysis Instantaneous Kinematic Analysis Table of Contents 1 Introduction 1 1.1 Background in Robotics 1 1.2 Robot Mechanics 1 1.2.1 Manipulator Kinematics and Dynamics 2 1.3 Robot Architecture 4 1.4 Robotic Wrists 4 1.5 Origins of the Carpal

More information

Inverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm

Inverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm Inverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm Mohammed Z. Al-Faiz,MIEEE Computer Engineering Dept. Nahrain University Baghdad, Iraq Mohammed S.Saleh

More information

A New Algorithm for Measuring and Optimizing the Manipulability Index

A New Algorithm for Measuring and Optimizing the Manipulability Index A New Algorithm for Measuring and Optimizing the Manipulability Index Mohammed Mohammed, Ayssam Elkady and Tarek Sobh School of Engineering, University of Bridgeport, USA. Mohammem@bridgeport.edu Abstract:

More information

Kinematic Analysis of a Two Degree-of-freedom Parallel Manipulator

Kinematic Analysis of a Two Degree-of-freedom Parallel Manipulator Kinematic Analysis of a Two Degree-of-freedom Parallel Manipulator Liang Yan, I-Ming Chen, Chee Kian Lim School of Mechanical and Aerospace Engineering Nanyang Technological University, Singapore 69798

More information

Matlab Simulator of a 6 DOF Stanford Manipulator and its Validation Using Analytical Method and Roboanalyzer

Matlab Simulator of a 6 DOF Stanford Manipulator and its Validation Using Analytical Method and Roboanalyzer Matlab Simulator of a 6 DOF Stanford Manipulator and its Validation Using Analytical Method and Roboanalyzer Maitreyi More 1, Rahul Abande 2, Ankita Dadas 3, Santosh Joshi 4 1, 2, 3 Department of Mechanical

More information

Robotics I. March 27, 2018

Robotics I. March 27, 2018 Robotics I March 27, 28 Exercise Consider the 5-dof spatial robot in Fig., having the third and fifth joints of the prismatic type while the others are revolute. z O x Figure : A 5-dof robot, with a RRPRP

More information

A NOVEL METHOD FOR THE DESIGN OF 2-DOF PARALLEL MECHANISMS FOR MACHINING APPLICATIONS

A NOVEL METHOD FOR THE DESIGN OF 2-DOF PARALLEL MECHANISMS FOR MACHINING APPLICATIONS A NOVEL METHOD FOR THE DESIGN OF 2-DOF PARALLEL MECHANISMS FOR MACHINING APPLICATIONS Félix Majou Institut de Recherches en Communications et Cybernétique de Nantes 1, 1 rue de la Noë, 44321 Nantes, FRANCE

More information

[2] J. "Kinematics," in The International Encyclopedia of Robotics, R. Dorf and S. Nof, Editors, John C. Wiley and Sons, New York, 1988.

[2] J. Kinematics, in The International Encyclopedia of Robotics, R. Dorf and S. Nof, Editors, John C. Wiley and Sons, New York, 1988. 92 Chapter 3 Manipulator kinematics The major expense in calculating kinematics is often the calculation of the transcendental functions (sine and cosine). When these functions are available as part of

More information

10/25/2018. Robotics and automation. Dr. Ibrahim Al-Naimi. Chapter two. Introduction To Robot Manipulators

10/25/2018. Robotics and automation. Dr. Ibrahim Al-Naimi. Chapter two. Introduction To Robot Manipulators Robotics and automation Dr. Ibrahim Al-Naimi Chapter two Introduction To Robot Manipulators 1 Robotic Industrial Manipulators A robot manipulator is an electronically controlled mechanism, consisting of

More information

Solution of inverse kinematic problem for serial robot using dual quaterninons and plucker coordinates

Solution of inverse kinematic problem for serial robot using dual quaterninons and plucker coordinates University of Wollongong Research Online Faculty of Engineering and Information Sciences - Papers: Part A Faculty of Engineering and Information Sciences 2009 Solution of inverse kinematic problem for

More information

Design of a Three-Axis Rotary Platform

Design of a Three-Axis Rotary Platform Design of a Three-Axis Rotary Platform William Mendez, Yuniesky Rodriguez, Lee Brady, Sabri Tosunoglu Mechanics and Materials Engineering, Florida International University 10555 W Flagler Street, Miami,

More information

Synthesis of Spatial RPRP Loops for a Given Screw System

Synthesis of Spatial RPRP Loops for a Given Screw System Synthesis of Spatial RPRP Loops for a Given Screw System A. Perez-Gracia Institut de Robotica i Informatica Industrial (IRI) UPC/CSIC, Barcelona, Spain and: College of Engineering, Idaho State Univesity,

More information

Table of Contents. Chapter 1. Modeling and Identification of Serial Robots... 1 Wisama KHALIL and Etienne DOMBRE

Table of Contents. Chapter 1. Modeling and Identification of Serial Robots... 1 Wisama KHALIL and Etienne DOMBRE Chapter 1. Modeling and Identification of Serial Robots.... 1 Wisama KHALIL and Etienne DOMBRE 1.1. Introduction... 1 1.2. Geometric modeling... 2 1.2.1. Geometric description... 2 1.2.2. Direct geometric

More information

KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR

KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR International Journal of Robotics and Automation, Vol. 24, No. 2, 2009 KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR B. Li, J. Zhao, X. Yang, and Y. Hu Abstract In this

More information

Robot mechanics and kinematics

Robot mechanics and kinematics University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2017/18 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot

More information

Serial Manipulator Statics. Robotics. Serial Manipulator Statics. Vladimír Smutný

Serial Manipulator Statics. Robotics. Serial Manipulator Statics. Vladimír Smutný Serial Manipulator Statics Robotics Serial Manipulator Statics Vladimír Smutný Center for Machine Perception Czech Institute for Informatics, Robotics, and Cybernetics (CIIRC) Czech Technical University

More information

Design, Manufacturing and Kinematic Analysis of a Kind of 3-DOF Translational Parallel Manipulator

Design, Manufacturing and Kinematic Analysis of a Kind of 3-DOF Translational Parallel Manipulator 4-27716195 mme.modares.ac.ir 2* 1-1 -2 - mo_taghizadeh@sbu.ac.ir, 174524155 * - - 194 15 : 195 28 : 195 16 : Design, Manufacturing and Kinematic Analysis of a Kind of -DOF Translational Parallel Manipulator

More information

Optimal Design of Three-Link Planar Manipulators using Grashof's Criterion

Optimal Design of Three-Link Planar Manipulators using Grashof's Criterion See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/256465031 Optimal Design of Three-Link Planar Manipulators using Grashof's Criterion Chapter

More information

Planar Robot Kinematics

Planar Robot Kinematics V. Kumar lanar Robot Kinematics The mathematical modeling of spatial linkages is quite involved. t is useful to start with planar robots because the kinematics of planar mechanisms is generally much simpler

More information

Rotating Table with Parallel Kinematic Featuring a Planar Joint

Rotating Table with Parallel Kinematic Featuring a Planar Joint Rotating Table with Parallel Kinematic Featuring a Planar Joint Stefan Bracher *, Luc Baron and Xiaoyu Wang Ecole Polytechnique de Montréal, C.P. 679, succ. C.V. H3C 3A7 Montréal, QC, Canada Abstract In

More information

Kinematics. Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position.

Kinematics. Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. Kinematics Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. 1/31 Statics deals with the forces and moments which are aplied on the mechanism

More information

MDP646: ROBOTICS ENGINEERING. Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt. Prof. Said M.

MDP646: ROBOTICS ENGINEERING. Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt. Prof. Said M. MDP646: ROBOTICS ENGINEERING Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt Prof. Said M. Megahed APPENDIX A: PROBLEM SETS AND PROJECTS Problem Set # Due 3 rd week

More information

MCE/EEC 647/747: Robot Dynamics and Control. Lecture 3: Forward and Inverse Kinematics

MCE/EEC 647/747: Robot Dynamics and Control. Lecture 3: Forward and Inverse Kinematics MCE/EEC 647/747: Robot Dynamics and Control Lecture 3: Forward and Inverse Kinematics Denavit-Hartenberg Convention Reading: SHV Chapter 3 Mechanical Engineering Hanz Richter, PhD MCE503 p.1/12 Aims of

More information

OPTIMIZATION OF JOINTS AND LINKS IN PLANAR PARALLEL ROBOT MECHANISMS

OPTIMIZATION OF JOINTS AND LINKS IN PLANAR PARALLEL ROBOT MECHANISMS International Journal of Advances in Scientific Research and Engineering (ijasre) ISSN: 2454-8006 [Vol. 03, Issue 4, May -2017] OPTIMIZATION OF JOINTS AND LINKS IN PLANAR PARALLEL ROBOT MECHANISMS Mangal

More information

SIMULATION ENVIRONMENT PROPOSAL, ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR

SIMULATION ENVIRONMENT PROPOSAL, ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR SIMULATION ENVIRONMENT PROPOSAL, ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR Fabian Andres Lara Molina, Joao Mauricio Rosario, Oscar Fernando Aviles Sanchez UNICAMP (DPM-FEM), Campinas-SP, Brazil,

More information

Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy

Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy S. Ambike, J.P. Schmiedeler 2 and M.M. Stanišić 2 The Ohio State University, Columbus, Ohio, USA; e-mail: ambike.@osu.edu

More information

Stackable 4-BAR Mechanisms and Their Robotic Applications

Stackable 4-BAR Mechanisms and Their Robotic Applications The 010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-, 010, Taipei, Taiwan Stackable 4-BAR Mechanisms and Their Robotic Applications Hoyul Lee and Youngjin Choi Abstract

More information

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators Non-Singular Assembly-mode Changing Motions for -RPR Parallel Manipulators Mazen ZEIN, Philippe Wenger and Damien Chablat Institut de Recherche en Communications et Cybernétique de Nantes UMR CNRS 6597,

More information

A Family of New Parallel Architectures with Four Degrees of Freedom

A Family of New Parallel Architectures with Four Degrees of Freedom A Family of New arallel Architectures with Four Degrees of Freedom DIMITER ZLATANOV AND CLÉMENT M. GOSSELIN Département de Génie Mécanique Université Laval Québec, Québec, Canada, G1K 74 Tel: (418) 656-3474,

More information

Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities

Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities Júlia Borràs (1), Erika Ottaviano (2), Marco Ceccarelli (2) and Federico Thomas (1) (1) Institut de Robòtica i Informàtica

More information

Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute

Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute We know how to describe the transformation of a single rigid object w.r.t. a single

More information

A Novel Approach for Direct Kinematics Solution of 3-RRR Parallel Manipulator Following a Trajectory

A Novel Approach for Direct Kinematics Solution of 3-RRR Parallel Manipulator Following a Trajectory 16 th. Annual (International) Conference on Mechanical EngineeringISME2008 May 1416, 2008, Shahid Bahonar University of Kerman, Iran A Novel Approach for Direct Kinematics Solution of 3RRR Parallel Manipulator

More information

Open Research Online The Open University s repository of research publications and other research outputs

Open Research Online The Open University s repository of research publications and other research outputs Open Research Online The Open University s repository of research publications and other research outputs Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system

More information

A Parallel Robots Framework to Study Precision Grasping and Dexterous Manipulation

A Parallel Robots Framework to Study Precision Grasping and Dexterous Manipulation 2013 IEEE International Conference on Robotics and Automation (ICRA) Karlsruhe, Germany, May 6-10, 2013 A Parallel Robots Framework to Study Precision Grasping and Dexterous Manipulation Júlia Borràs,

More information

A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors

A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors Sébastien Briot and Ilian A. Bonev Department of Automated Manufacturing Engineering, École de Technologie Supérieure (ÉTS),

More information

Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute

Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute (3 pts) Compare the testing methods for testing path segment and finding first

More information

taining a passive spherical joint in every leg. The latter case includes the -DOF machining center developed by the Seoul National University []. Usin

taining a passive spherical joint in every leg. The latter case includes the -DOF machining center developed by the Seoul National University []. Usin Necessary Conditions for Singularities in Three-Legged Platform-Type Parallel Mechanisms John T. Wen and John F. O'Brien Abstract Parallel mechanisms frequently contain an unstable type of singularity

More information

Written exams of Robotics 1

Written exams of Robotics 1 Written exams of Robotics 1 http://www.diag.uniroma1.it/~deluca/rob1_en.php All materials are in English, unless indicated (oldies are in Year Date (mm.dd) Number of exercises Topics 2018 06.11 2 Planar

More information

Finding Reachable Workspace of a Robotic Manipulator by Edge Detection Algorithm

Finding Reachable Workspace of a Robotic Manipulator by Edge Detection Algorithm International Journal of Advanced Mechatronics and Robotics (IJAMR) Vol. 3, No. 2, July-December 2011; pp. 43-51; International Science Press, ISSN: 0975-6108 Finding Reachable Workspace of a Robotic Manipulator

More information

Some algebraic geometry problems arising in the field of mechanism theory. J-P. Merlet INRIA, BP Sophia Antipolis Cedex France

Some algebraic geometry problems arising in the field of mechanism theory. J-P. Merlet INRIA, BP Sophia Antipolis Cedex France Some algebraic geometry problems arising in the field of mechanism theory J-P. Merlet INRIA, BP 93 06902 Sophia Antipolis Cedex France Abstract Mechanism theory has always been a favorite field of study

More information

KINEMATIC AND DYNAMIC SIMULATION OF A 3DOF PARALLEL ROBOT

KINEMATIC AND DYNAMIC SIMULATION OF A 3DOF PARALLEL ROBOT Bulletin of the Transilvania University of Braşov Vol. 8 (57) No. 2-2015 Series I: Engineering Sciences KINEMATIC AND DYNAMIC SIMULATION OF A 3DOF PARALLEL ROBOT Nadia Ramona CREŢESCU 1 Abstract: This

More information

Teaching the Design of Parallel Manipulators and Their Controllers Implementing MATLAB, Simulink, SimMechanics and CAD*

Teaching the Design of Parallel Manipulators and Their Controllers Implementing MATLAB, Simulink, SimMechanics and CAD* Int. J. Engng Ed. Vol. 21, No. 5, pp. 838±845, 2005 0949-149X/91 $3.00+0.00 Printed in Great Britain. # 2005 TEMPUS Publications. Teaching the Design of Parallel Manipulators and Their Controllers Implementing

More information

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots Ilian Bonev, Sébastien Briot, Philippe Wenger, Damien Chablat To cite this version: Ilian Bonev,

More information

Extension of Usable Workspace of Rotational Axes in Robot Planning

Extension of Usable Workspace of Rotational Axes in Robot Planning Extension of Usable Workspace of Rotational Axes in Robot Planning Zhen Huang' andy. Lawrence Yao Department of Mechanical Engineering Columbia University New York, NY 127 ABSTRACT Singularity of a robot

More information

Forward kinematics and Denavit Hartenburg convention

Forward kinematics and Denavit Hartenburg convention Forward kinematics and Denavit Hartenburg convention Prof. Enver Tatlicioglu Department of Electrical & Electronics Engineering Izmir Institute of Technology Chapter 5 Dr. Tatlicioglu (EEE@IYTE) EE463

More information

The Collision-free Workspace of the Tripteron Parallel Robot Based on a Geometrical Approach

The Collision-free Workspace of the Tripteron Parallel Robot Based on a Geometrical Approach The Collision-free Workspace of the Tripteron Parallel Robot Based on a Geometrical Approach Z. Anvari 1, P. Ataei 2 and M. Tale Masouleh 3 1,2 Human-Robot Interaction Laboratory, University of Tehran

More information

Kinematics - Introduction. Robotics. Kinematics - Introduction. Vladimír Smutný

Kinematics - Introduction. Robotics. Kinematics - Introduction. Vladimír Smutný Kinematics - Introduction Robotics Kinematics - Introduction Vladimír Smutný Center for Machine Perception Czech Institute for Informatics, Robotics, and Cybernetics (CIIRC) Czech Technical University

More information

Robotics kinematics and Dynamics

Robotics kinematics and Dynamics Robotics kinematics and Dynamics C. Sivakumar Assistant Professor Department of Mechanical Engineering BSA Crescent Institute of Science and Technology 1 Robot kinematics KINEMATICS the analytical study

More information

Redundant Actuation of Parallel Manipulators

Redundant Actuation of Parallel Manipulators 5 Redundant Actuation of Parallel Manipulators Andreas Müller Institute of Mechatronics at the Chemnitz University of Technology Germany Open Access Database www.intehweb.com 1. Introduction High stiffness,

More information

INSTITUTE OF AERONAUTICAL ENGINEERING

INSTITUTE OF AERONAUTICAL ENGINEERING Name Code Class Branch Page 1 INSTITUTE OF AERONAUTICAL ENGINEERING : ROBOTICS (Autonomous) Dundigal, Hyderabad - 500 0 MECHANICAL ENGINEERING TUTORIAL QUESTION BANK : A7055 : IV B. Tech I Semester : MECHANICAL

More information

Solving IK problems for open chains using optimization methods

Solving IK problems for open chains using optimization methods Proceedings of the International Multiconference on Computer Science and Information Technology pp. 933 937 ISBN 978-83-60810-14-9 ISSN 1896-7094 Solving IK problems for open chains using optimization

More information

The International Journal of Robotics Research

The International Journal of Robotics Research The International Journal of Robotics Research http://ijr.sagepub.com On the Kinematic Design of Spherical Three-Degree-of- Freedom Parallel Manipulators Clément M. Gosselin and Eric Lavoie The International

More information

Mechanism Design for 3-, 4-, 5- and 6-DOF PMWPSs

Mechanism Design for 3-, 4-, 5- and 6-DOF PMWPSs Proceedings of the 6th WSEAS International Conference on Robotics Control and Manufacturing Technolog Hanghou China April 6-8 26 (pp93-98) Mechanism Design for 3-4- 5- and 6-DOF PMWPSs JIANJUN ZHANG XIAOHUI

More information

3/12/2009 Advanced Topics in Robotics and Mechanism Synthesis Term Projects

3/12/2009 Advanced Topics in Robotics and Mechanism Synthesis Term Projects 3/12/2009 Advanced Topics in Robotics and Mechanism Synthesis Term Projects Due date: 4/23/09 On 4/23/09 and 4/30/09 you will present a 20-25 minute presentation about your work. During this presentation

More information

MCE/EEC 647/747: Robot Dynamics and Control. Lecture 1: Introduction

MCE/EEC 647/747: Robot Dynamics and Control. Lecture 1: Introduction MCE/EEC 647/747: Robot Dynamics and Control Lecture 1: Introduction Reading: SHV Chapter 1 Robotics and Automation Handbook, Chapter 1 Assigned readings from several articles. Cleveland State University

More information

[4] D. Pieper, "The Kinematics of Manipulators Under Computer Control," Unpublished Ph.D. Thesis, Stanford University, 1968.

[4] D. Pieper, The Kinematics of Manipulators Under Computer Control, Unpublished Ph.D. Thesis, Stanford University, 1968. 128 Chapter 4 nverse manipulator kinematics is moderately expensive computationally, but the other solutions are found very quickly by summing and differencing angles, subtracting jr, and so on. BBLOGRAPHY

More information

x Condition Number Condition Number 0.5

x Condition Number Condition Number 0.5 Redundant Actuation for Improving Kinematic Manipulability John F. O'Brien and John T. Wen Center for Advanced Technology in Automation, Robotics & Manufacturing Department of Electrical, Computer, & Systems

More information

Serially-Linked Parallel Leg Design for Biped Robots

Serially-Linked Parallel Leg Design for Biped Robots December 13-15, 24 Palmerston North, New ealand Serially-Linked Parallel Leg Design for Biped Robots hung Kwon, Jung H. oon, Je S. eon, and Jong H. Park Dept. of Precision Mechanical Engineering, School

More information

DIDACTIC PROTOTYPE OF A MACHINE TOOL BASED ON A PARALLEL KINEMATIC MECHANISM

DIDACTIC PROTOTYPE OF A MACHINE TOOL BASED ON A PARALLEL KINEMATIC MECHANISM DIDACTIC PROTOTYPE OF A MACHINE TOOL BASED ON A PARALLEL KINEMATIC MECHANISM Tarcisio A. H. Coelho 1, Gilmar F. Batalha 2, Daniel T. B. Moraes, Marcelo Boczko University of Sao Paulo, Department of Mechatronics

More information

SCREW-BASED RELATIVE JACOBIAN FOR MANIPULATORS COOPERATING IN A TASK

SCREW-BASED RELATIVE JACOBIAN FOR MANIPULATORS COOPERATING IN A TASK ABCM Symposium Series in Mechatronics - Vol. 3 - pp.276-285 Copyright c 2008 by ABCM SCREW-BASED RELATIVE JACOBIAN FOR MANIPULATORS COOPERATING IN A TASK Luiz Ribeiro, ribeiro@ime.eb.br Raul Guenther,

More information

Kinematics of the Stewart Platform (Reality Check 1: page 67)

Kinematics of the Stewart Platform (Reality Check 1: page 67) MATH 5: Computer Project # - Due on September 7, Kinematics of the Stewart Platform (Reality Check : page 7) A Stewart platform consists of six variable length struts, or prismatic joints, supporting a

More information

Synthesis of Planar Mechanisms, Part IX: Path Generation using 6 Bar 2 Sliders Mechanism

Synthesis of Planar Mechanisms, Part IX: Path Generation using 6 Bar 2 Sliders Mechanism International Journal of Computer Techniques - Volume 2 Issue 6, Nov- Dec 2015 RESEARCH ARTICLE Synthesis of Planar Mechanisms, Part IX: Path Generation using 6 Bar 2 Sliders Mechanism Galal Ali Hassaan

More information

Singularities of a Manipulator with Offset Wrist

Singularities of a Manipulator with Offset Wrist Singularities of a Manipulator with Offset Wrist Robert L. Williams II Department of Mechanical Engineering Ohio University Athens, Ohio Journal of Mechanical Design Vol. 11, No., pp. 315-319 June, 1999

More information

Chapter 1: Introduction

Chapter 1: Introduction Chapter 1: Introduction This dissertation will describe the mathematical modeling and development of an innovative, three degree-of-freedom robotic manipulator. The new device, which has been named the

More information

Moveability and Collision Analysis for Fully-Parallel Manipulators

Moveability and Collision Analysis for Fully-Parallel Manipulators Moveability and Collision Analysis for Fully-Parallel Manipulators Damien Chablat, Philippe Wenger To cite this version: Damien Chablat, Philippe Wenger. Moveability and Collision Analysis for Fully-Parallel

More information