Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Kinematics of Redundantly Actuated Closed Chains

The instantaneous kinematics of a hybrid manipulation system, which combines the traditional serial chain geometry with parallelism in actuation, and the problem of coordination is discussed. The indeterminacy and singularities in the inverse kinematics and statics equations and measures of kinematic performance are analyzed. Finally, coordination algorithms that maintain an optimal force distribution between the actuators while avoiding or exploiting singularities are presented

Static force capabilities and dynamic capabilities of parallel mechanisms equipped with safety clutches

Cette thèse étudie les forces potentielles des mécanismes parallèles plans à deux degrés de liberté équipés d'embrayages de sécurité (limiteur de couple). Les forces potentielles sont étudiées sur la base des matrices jacobienne. La force maximale qui peut être appliquée à l'effecteur en fonction des limiteurs de couple ainsi que la force maximale isotrope sont déterminées. Le rapport entre ces deux forces est appelé l'efficacité de la force et peut être considéré ; comme un indice de performance. Enfin, les résultats numériques proposés donnent un aperçu sur la conception de robots coopératifs reposant sur des architectures parallèles. En isolant chaque lien, les modèles dynamiques approximatifs sont obtenus à partir de l'approche Newton-Euler et des équations de Lagrange pour du tripteron et du quadrupteron. La plage de l'accélération de l'effecteur et de la force externe autorisée peut être trouvée pour une plage donnée de forces d'actionnement.This thesis investigates the force capabilities of two-degree-of-freedom planar parallel mechanisms that are equipped with safety clutches (torque limiters). The force capabilities are studied based on the Jacobian matrices. The maximum force that can be applied at the end-effector for given torque limits (safety index) is determined together with the maximum isotropic force that can be produced. The ratio between these two forces, referred to as the force effectiveness, can be considered as a performance index. Finally, some numerical results are proposed which can provide insight into the design of cooperation robots based on parallel architectures. Considering each link and slider system as a single body, approximate dynamic models are derived based on the Newton-Euler approach and Lagrange equations for the tripteron and the quadrupteron. The acceleration range or the external force range of the end-effector are determined and given as a safety consideration with the dynamic models

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a simple and low-cost measuring system, which evaluates deviation of the leg location during motions that are assumed to preserve the leg parallelism for the nominal values of the manipulator parameters. Using the measured deviations, the developed algorithm estimates the joint offsets that are treated as the most essential parameters to be identified. The validity of the proposed calibration method and efficiency of the developed numerical algorithms are confirmed by experimental results. The sensitivity of the measurement methods and the calibration accuracy are also studied

Development and Testing of an Actively Adjustable Stiffness Mechanism

This study presents the comparison of the theoretical and experimental results of the performance of an adjustable stiffness mechanism. In particular, the use of redundant actuation is emphasized in the design of a one degree-of-freedom Watt II mechanism capable of independently controlling the effective stiffness without a change in equilibrium position. This approach is in contrast to spring mechanism designs unable to actively control the spring rate independent of deflection, and with potential applications in various types of suspension and assembly systems. Results indicate that two direct drive brush-type direct current motors are required to drive the redundantly actuated mechanism and create a system that behaves as an adjustable stiffness spring

Design and analysis of kinematically redundant planar parallel manipulator for isotropic stiffness condition

Parallel manipulators are a form of closed loop linkages and have a wide range of applications e.g. surgical robots, flight simulators, pointing devices etc. Parallel mechanisms have many advantages over serial manipulator. Higher accuracy, stiffness and increased payload capacity are the characteristics of parallel manipulator. In spite of many advantages, they have limited workspace and more singularity regions. So, redundant architectures have become popular. However, redundancy leads to infinite solutions for inverse kinematic problem. The current work addresses this issue of resolving the redundancy of kinematically redundant planar parallel manipulators using optimization based approach. First the conventional non-redundant 3-RPR planar parallel manipulator is presented. Afterwards the kinematically redundant counterpart 3-PRPR is discussed and actuation redundant 4-RPR has been touched upon briefly. Computer simulations have been performed for the kinematic issues using MATLAB programme . The workspace of redundant and non-redundant parallel manipulators have been obtained. The generalized stiffness matrix has been derived based upon the Jacobian model and the principle of duality between kinematics and statics. A stiffness index has been formulated and the isotropy of stiffness index is used as the criterion for resolving redundancy. A novel spiral optimization metaheuristics has been used to achieve the isotropic stiffness within the selected workshape and the results are compared against particle swarm optimization. The results obtained from the novel Spiral optimization are found to be more effective and closer to the objective function as compared to the particle swarm optimization. Optimum redundant parameters are obtained as a result of the analysis. A wooden skeletal prototype has also been fabricated to enhance the understanding of the mechanism workability