359 research outputs found
An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms
This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters
A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye
This paper is devoted to the kinematic design of a new six degree-of-freedom
haptic device using two parallel mechanisms. The first one, called orthoglide,
provides the translation motions and the second one, called agile eye, produces
the rotational motions. These two motions are decoupled to simplify the direct
and inverse kinematics, as it is needed for real-time control. To reduce the
inertial load, the motors are fixed on the base and a transmission with two
universal joints is used to transmit the rotational motions from the base to
the end-effector. Two alternative wrists are proposed (i), the agile eye with
three degrees of freedom or (ii) a hybrid wrist made by the assembly of a
two-dof agile eye with a rotary motor. The last one is optimized to increase
its stiffness and to decrease the number of moving parts
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
Design Principles for a Family of Direct-Drive Legged Robots
This letter introduces Minitaur, a dynamically running and leaping quadruped, which represents a novel class of direct-drive (DD) legged robots. We present a methodology that achieves the well-known benefits of DD robot design (transparency, mechanical robustness/efficiency, high-actuation bandwidth, and increased specific power), affording highly energetic behaviors across our family of machines despite severe limitations in specific force. We quantify DD drivetrain benefits using a variety of metrics, compare our machines\u27 performance to previously reported legged platforms, and speculate on the potential broad-reaching value of “transparency” for legged locomotion.
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Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine
The paper derives the inverse and the forward kinematic equations of a serial
- parallel 5-axis machine tool: the VERNE machine. This machine is composed of
a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting
table. The parallel module consists of a moving platform that is connected to a
fixed base by three non-identical legs. These legs are connected in a way that
the combined effects of the three legs lead to an over-constrained mechanism
with complex motion. This motion is defined as a simultaneous combination of
rotation and translation. In this paper we propose symbolical methods that able
to calculate all kinematic solutions and identify the acceptable one by adding
analytical constraint on the disposition of legs of the parallel module
High-precision five-axis machine for high-speed material processing using linear motors and parallel-serial kinematics
The paper describes some details of the mechanical and kinematics design of a five-axis mechanism. The design has been utilized to physically realize an industrial-scale five-axis milling machine that can carry a three KW spindle. However, the mechanism could be utilized in other material processing and factory automation applications. The mechanism has five rectilinear joints/axes. Two of these axes are arranged traditionally, i.e. in series, and the other three axes utilize the concept of parallel kinematics. This combination results in a design that allows three translational and two rotational two-mode degrees of freedom (DOFs). The design provides speed, accuracy and cost advantages over traditional five-axis machines. All axes are actuated using linear motors. <br /
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