1,163 research outputs found
Systematic Enumeration of Parallel Manipulators
In this paper, a systematic methodology for enumeration of the kinematicstructures of parallel manipulators is presented. Parallel manipulators areclassified into planar, spherical, and spatial mechanisms. The classificationis followed by an enumeration of the kinematic structures according to thedegrees of freedom and connectivity listing. In particular, a class ofparallel manipulators with pure translational motion capability is enumerated
A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications
This paper proposes a method to calculate the largest Regular Dextrous
Workspace (RDW) of some types of three-revolute orthogonal manipulators that
have at least one of their DH parameters equal to zero. Then a new performance
index based on the RDW is introduced, the isocontours of this index are plotted
in the parameter space of the interesting types of manipulators and finally an
inspection of the domains of the parameter spaces is conducted in order to
identify the better manipulator architectures. The RDW is a part of the
workspace whose shape is regular (cube, cylinder) and the performances
(conditioning index) are bounded inside. The groups of 3R orthogonal
manipulators studied have interesting kinematic properties such as, a
well-connected workspace that is fully reachable with four inverse kinematic
solutions and that does not contain any void. This study is of high interest
for the design of alternative manipulator geometries
Enumeration of spatial manipulators by using the concept of Adjacency Matrix
This study is on the enumeration of spatial robotic manipulators, which is an
essential basis for a companion study on dimensional synthesis, both of which
together present a wider utility in manipulator synthesis. The enumeration of
manipulators is done by using adjacency matrix concept. In this paper, a novel
way of applying adjacency matrix to spatial manipulators with four types of
joints, namely revolute, prismatic, cylindrical and spherical joints, is
presented. The limitations of the applicability of the concept to 3D
manipulators are discussed. 1-DOF (Degree Of Freedom) manipulators of four
links and 2-DOF, 3-DOF and 4-DOF manipulators of three links, four links and
five links, are enumerated based on a set of conventions and some assumptions.
Finally, 96 1-DOF manipulators of four links, 641 2-DOF manipulators of 5
links, 4 2-DOF manipulators of three links, 8 3-DOF manipulators of four links
and 15 4-DOF manipulators of five links are presented
A hyper-redundant manipulator
“Hyper-redundant” manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping. The authors examine hyper-redundant manipulator design criteria and the physical implementation of one particular design: a variable geometry truss
A classification of 3R regional manipulator singularities and geometries
3R manipulator singularities and geometries based on genericity are categorized. A recursive application of screw theory is used to generate singular configurations and provide a geometric interpretation of nongenericity. A generic manipulator classification scheme based on homotopy class is introduced. Nongeneric geometries are interpreted as bifurcations of generic geometries with respect to kinematic parameter values. Some conjectures on the classes of manipulators which can change pose without passing through a singularity are also given
Design and Development of 3-DOF Modular Micro Parallel Kinematic Manipulator
This paper presents the research and development of a 3-legged micro Parallel Kinematic Manipulator (PKM) for positioning in micro-machining and assembly operations. The structural characteristics associated with parallel manipulators are evaluated and the PKMs with translational and rotational movements are identified. Based on these identifications, a hybrid 3-UPU (Universal Joint-Prismatic Joint-Universal Joint) parallel manipulator is designed and fabricated. The principles of the operation and modeling of this micro PKM is largely similar to a normal size Stewart Platform (SP). A modular design methodology is introduced for the construction of this micro PKM. Calibration results of this hybrid 3-UPU PKM are discussed in this paper.Singapore-MIT Alliance (SMA
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