3,755 research outputs found
Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots
This paper demonstrates that any general 3-DOF three-legged planar parallel
robot with extensible legs can change assembly modes without passing through
parallel singularities (configurations where the mobile platform loses its
stiffness). While the results are purely theoretical, this paper questions the
very definition of parallel singularities.Comment: 2nd International Workshop on Fundamental Issues and Future Research
Directions for Parallel Mechanisms and Manipulators, Montpellier : France
(2008
On the optimal design of parallel robots taking into account their deformations and natural frequencies
This paper discusses the utility of using simple stiffness and vibrations
models, based on the Jacobian matrix of a manipulator and only the rigidity of
the actuators, whenever its geometry is optimised. In many works, these
simplified models are used to propose optimal design of robots. However, the
elasticity of the drive system is often negligible in comparison with the
elasticity of the elements, especially in applications where high dynamic
performances are needed. Therefore, the use of such a simplified model may lead
to the creation of robots with long legs, which will be submitted to large
bending and twisting deformations. This paper presents an example of
manipulator for which it is preferable to use a complete stiffness or vibration
model to obtain the most suitable design and shows that the use of simplified
models can lead to mechanisms with poorer rigidity
Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators
redundant manipulator
Kinematics and workspace analysis of a 3ppps parallel robot with u-shaped base
This paper presents the kinematic analysis of the 3-PPPS parallel robot with
an equilateral mobile platform and a U-shape base. The proposed design and
appropriate selection of parameters allow to formulate simpler direct and
inverse kinematics for the manipulator under study. The parallel singularities
associated with the manipulator depend only on the orientation of the
end-effector, and thus depend only on the orientation of the end effector. The
quaternion parameters are used to represent the aspects, i.e. the singularity
free regions of the workspace. A cylindrical algebraic decomposition is used to
characterize the workspace and joint space with a low number of cells. The
dis-criminant variety is obtained to describe the boundaries of each cell. With
these simplifications, the 3-PPPS parallel robot with proposed design can be
claimed as the simplest 6 DOF robot, which further makes it useful for the
industrial applications
Geometry-aware Manipulability Learning, Tracking and Transfer
Body posture influences human and robots performance in manipulation tasks,
as appropriate poses facilitate motion or force exertion along different axes.
In robotics, manipulability ellipsoids arise as a powerful descriptor to
analyze, control and design the robot dexterity as a function of the
articulatory joint configuration. This descriptor can be designed according to
different task requirements, such as tracking a desired position or apply a
specific force. In this context, this paper presents a novel
\emph{manipulability transfer} framework, a method that allows robots to learn
and reproduce manipulability ellipsoids from expert demonstrations. The
proposed learning scheme is built on a tensor-based formulation of a Gaussian
mixture model that takes into account that manipulability ellipsoids lie on the
manifold of symmetric positive definite matrices. Learning is coupled with a
geometry-aware tracking controller allowing robots to follow a desired profile
of manipulability ellipsoids. Extensive evaluations in simulation with
redundant manipulators, a robotic hand and humanoids agents, as well as an
experiment with two real dual-arm systems validate the feasibility of the
approach.Comment: Accepted for publication in the Intl. Journal of Robotics Research
(IJRR). Website: https://sites.google.com/view/manipulability. Code:
https://github.com/NoemieJaquier/Manipulability. 24 pages, 20 figures, 3
tables, 4 appendice
Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations
We propose a novel design of a parallel manipulator of Stewart Gough type for
virtual reality application of single individuals; i.e. an omni-directional
treadmill is mounted on the motion platform in order to improve VR immersion by
giving feedback to the human body. For this purpose we modify the well-known
octahedral manipulator in a way that it has one degree of kinematical
redundancy; namely an equiform reconfigurability of the base. The instantaneous
kinematics and singularities of this mechanism are studied, where especially
"unavoidable singularities" are characterized. These are poses of the motion
platform, which can only be realized by singular configurations of the
mechanism despite its kinematic redundancy.Comment: 13 pages, 6 figure
Optimal dimensional synthesis of force feedback lower arm exoskeletons
This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic interfaces. Multiple design objectives are discussed and classified for the devices and the optimization problem to study the trade-offs between these criteria is formulated. Dimensional syntheses are performed for optimal global kinematic and dynamic performance, utilizing a Pareto front based framework, for two spherical parallel mechanisms that satisfy the ergonomic necessities of a human forearm and wrist. Two optimized mechanisms are compared and discussed in the light of multiple design criteria. Finally, kinematic structure and dimensions of an optimal exoskeleton are decided
Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis
This paper deals with the kinematics and dynamics of a two degree of freedom
spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel
kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a
three-dof translational parallel manipulator that belongs to the family of
Delta robots, and ii) the Agile eye; a two-dof parallel spherical wrist. The
geometric and inertial parameters used in the model are determined by means of
a CAD software. The performance of the spherical wrist is emphasized by means
of several test trajectories. The effects of machining and/or cutting forces
and the length of the cutting tool on the dynamic performance of the wrist are
also analyzed. Finally, a preliminary selection of the motors is proposed from
the velocities and torques required by the actuators to carry out the test
trajectories
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