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Journal articles on the topic 'Manipulator (Mechanism)'

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Published: 4 June 2021

Last updated: 6 February 2022

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Geonea, Ionut, Alexandru Margine, and Alin Ungureanu. "Study upon the Dynamic Answer of Plane Manipulators." Advanced Materials Research 463-464 (February 2012): 1304–8. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1304.

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The paper illustrates the structure of plane mechanical systems used to manipulators. In the first part are presented some kinematics schemes used to plane manipulators. These mechanisms are used to manipulators, positioning and control systems. In generally these mechanisms have two or three degree of mobility. The purpose of the paper is to study the dynamics of a plane manipulator mechanical system used to manipulate garbage containers. It is presented the kinematics scheme of a plane manipulator, used to this purpose and is presented the mechanism functional description. In the second part is presented the kinematical and dynamical analysis for the plane manipulator mechanism. In the last part of the paper are presented graphical results for the dynamics parameters.

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Ando, Noriaki, Masahiro Ohta, Kohei Gonda, and Hideki Hashimoto. "Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems." Journal of Robotics and Mechatronics 13, no. 5 (2001): 488–96. http://dx.doi.org/10.20965/jrm.2001.p0488.

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This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A parallel manipulator motion is restricted by 3 factors: mechanical limits of the passive joints, collision between links and actuators limitations. Results of the numerical workspace analysis considering the above factors are shown. We are proposing the use of dual manipulators for implementing improved real manipulation systems. The first kinematics and workspace analysis of dual systems using the VR simulator are also shown.

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Liu, H., J. S. Dai, H. Y. Xu, and H. Li. "Virtual-mechanism-based analysis of cooperative manipulation." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 219, no. 3 (2005): 315–23. http://dx.doi.org/10.1243/095440604x16830.

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This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanism-based analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint during cooperative manipulation. The analysis not only generates positions and orientations of the end effectors of cooperative manipulators but also produces corresponding link configurations that can be used for manipulation planning. The approach is further used for the orientation-based trajectory planning with two different cases. Simulations and discussions are made with respect to cooperative manipulations using two 2R manipulators and one 2R manipulators and one 3R manipulator.

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Petrescu, Florian Ion, and Relly Victoria Petrescu. "Presenting a Railbound Forging Manipulator." Applied Mechanics and Materials 762 (May 2015): 219–24. http://dx.doi.org/10.4028/www.scientific.net/amm.762.219.

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Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationships between outputs and inputs have greatly influence about the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper one presents the general aspects of a railbound forging manipulator, like geometry, structure, general kinematics and forces of the main mechanism from such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.

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Lovasz, Erwin Christian, Dan Perju, Nicolae Mircea Dehelean, Liana Maria Dehelean, Inocentiu Maniu, and Cristian Moldovan. "Self-Balanced Conco-Balancer Manipulator with Band Mechanism." Solid State Phenomena 166-167 (September 2010): 259–64. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.259.

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The manipulators, used to handling products or devices in industrial departments, needs to be self-balanced in order to compensate the different weight of the load in its position in the workspace. The known technical solution for self-balancing with counterweight, springs and actuators can be substituted through a band mechanism. The paper proposed a new self-balancing solution for the conco-balancer manipulator with band mechanism and presents its synthesis approach. The non-circular profile of the band mechanism permits the variation of the compensated moment in order to be easy manipulated the load by the operator.

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Tuleshov, K. Amandyk, A. Kassymbek Ozhikenov, and K. Assylbek Ozhiken. "Investigation of Dynamical Peculiarities of Manipulator on the Basis of close Circuit Mechanism." Advanced Materials Research 705 (June 2013): 386–89. http://dx.doi.org/10.4028/www.scientific.net/amr.705.386.

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Manipulator dynamics is investigated on the basis of closed kinematic chain, in comparison to manipulator on the base of non-closed kinematic chain. Thereby the dynamic peculiarities of their driving actuators are considered. The solution of the task of program motion development was received as a solution of inverse task of kinematics. The modeling issues of investigated manipulators dynamics are resolved and the results were attained. The attained results demonstrate that the application of flat closed mechanisms as the operating device of manipulation robots is promising from the perspective of enhancement of their dynamical peculiarities.

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Dai, J. S., and P. Shah. "Orientation capability of planar serial manipulators using rotatability analysis based on workspace decomposition." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 216, no. 3 (2002): 275–88. http://dx.doi.org/10.1243/0954406021524990.

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This paper presents a new approach for analysing and synthesizing the orientation capability of planar serial manipulators. By relating the end-effector to the base joint of a manipulator using a virtual adjustable link, the paper converts the open-chain kinematic problem into that of an equivalent close-chain mechanism, and characterizes the relationship between the orientation capability of a serial manipulator and the rotatability of the equivalent mechanism. The orientation capability of a manipulator can hence be placed in the realm of mechanism rotatability. The approach is taken further by decomposing the reachable workspace of a manipulator into ranges, based on the extreme and singular positions of a manipulator. In each of the workspace ranges, the rotatability of the equivalent mechanism is examined and results are categorized to indicate the orientation capability of the manipulator. The approach produces a direct correlation between the orientation capability and manipulator parameters and generates a way of examining the orientation capabilities of serial manipulators. The approach is extended to n-link serial manipulators.

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Ebert-Uphoff, Imme, Cle´ment M. Gosselin, and Thierry Laliberte´. "Static Balancing of Spatial Parallel Platform Mechanisms—Revisited." Journal of Mechanical Design 122, no. 1 (2000): 43–51. http://dx.doi.org/10.1115/1.533544.

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This article discusses the development of statically balanced spatial parallel platform mechanisms. A mechanism is statically balanced if its potential energy is constant for all possible configurations. This property is very important for robotic manipulators with large payloads, since it means that the mechanism is statically stable for any configuration, i.e., zero actuator torques are required whenever the manipulator is at rest. Furthermore, only inertial forces and moments have to be sustained while the manipulator is moving. The application that motivates this research is the use of parallel platform manipulators as motion bases in commercial flight simulators, where the weight of the cockpit results in a large static load. We first present a class of spatial parallel platform mechanisms that is suitable for static balancing. The class of mechanisms considered is a generalization of the manipulator described by Streit (1991, “Spatial Manipulator and Six Degree of Freedom Platform Spring Equilibrator Theory,” in Second National Conference on Applied Mechanisms and Robotics, VIII.B, pp. 1-1–1-6). Then sufficient conditions on the kinematic parameters that guarantee static balancing are derived for this class. Finally a particular mechanism is studied in more detail to show the practicability of its design. [S1050-0472(00)01401-X]

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He, Jing Fei, Chao Xu, Hua Deng, and Long Han. "The Research on Characteristics of Movement Coupling in Forging Manipulator." Advanced Materials Research 591-593 (November 2012): 648–52. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.648.

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Heavy-duty forging manipulators play an important role in extreme manufacturing. Based on the kinematic model of DDS forcing manipulator, the input- output relation equations in terms of position are derived. According to the actually movement path of output mechanism, a new decoupling concept is defined as to forcing manipulator. The input-output relation matrices in terms of velocity are established at three major motions, and the coupling characteristics of mechanism are analyzed. At last, the theory analysis is proved correct by experimental verification. The results show that three major motion mechanisms of DDS forcing manipulator are partially decoupled under the new decoupling concept compared with the conventional one, which helps to simplify the control strategy of DDS forcing manipulator.

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Saito, Takashi Kei, Kento Onodera, Riku Seino, Takashi Okawa, and Yasushi Saito. "300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot." Journal of Robotics and Mechatronics 33, no. 1 (2021): 141–50. http://dx.doi.org/10.20965/jrm.2021.p0141.

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We designed a new telescopic manipulator that uses a clustered elastic convex tape. The manipulator has an ultra-wide expansion range and toughness against mechanical stress. Compared to conventional linear actuators, our convex-type manipulators have high extension range and are very lightweight. Moreover, they are compact when rolled up. The telescopic manipulators designed in the previous study had insufficient output due to structural problems and were unstable. In this study, we report a Type-K telescopic manipulator mechanism (Makijaku-Ude Type-K), which is a redesigned manipulator that can be easily used with a 300-N class power, and applied the mechanism to a three degrees-of-freedom spatial parallel-mechanism robot.

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Speich, John, and Michael Goldfarb. "A compliant-mechanism-based three degree-of-freedom manipulator for small-scale manipulation." Robotica 18, no. 1 (2000): 95–104. http://dx.doi.org/10.1017/s0263574799001903.

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This paper describes the design of a small-scale three degree-of-freedom compliant-mechanism-based manipulator with an approximately 2 cm×2 cm×2 cm cubic workspace. The manipulator exhibits a significantly larger range of motion and better spatial structural properties than a conventional compliant mechanism, due primarily to a unique flexure joint developed by the authors. A brief description of the mechanics of the flexure joint is followed by a description of the design of the manipulator. Following the mechanical description, the design of the low-level manipulator controller is discussed. Finally, data is presented that demonstrates manipulator performance.

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Ruiz-Torres, M. F., E. Castillo-Castaneda, and J. A. Briones-Leon. "Design and analysis of CICABOT: a novel translational parallel manipulator based on two 5-bar mechanisms." Robotica 30, no. 3 (2011): 449–56. http://dx.doi.org/10.1017/s0263574711000646.

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SUMMARYThis work presents the CICABOT, a novel 3-DOF translational parallel manipulator (TPM) with large workspace. The manipulator consists of two 5-bar mechanisms connected by two prismatic joints; the moving platform is on the union of these prismatic joints; each 5-bar mechanism has two legs. The mobility of the proposed mechanism, based on Gogu approach, is also presented. The inverse and direct kinematics are solved from geometric analysis. The manipulator's Jacobian is developed from the vector equation of the robot legs; the singularities can be easily derived from Jacobian matrix. The manipulator workspace is determined from analysis of a 5-bar mechanism; the resulting workspace is the intersection of two hollow cylinders that is much larger than other TPM with similar dimensions.

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Sekiguchi, Yuta, Yo Kobayashi, Yu Tomono, et al. "Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery." Journal of Robotics and Mechatronics 23, no. 6 (2011): 1115–24. http://dx.doi.org/10.20965/jrm.2011.p1115.

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Recently, a robotic system was developed to assist in Single-Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with a dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: five DOFs; cautery: three DOFs) can be attached at the tip of the sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 mm and a time delay of less than 31 ms, when the input frequency is 1.0 Hz.

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Hou, Yangyang, Huajie Hong, Zhaomei Sun, Dasheng Xu, and Zhe Zeng. "The Control Method of Twin Delayed Deep Deterministic Policy Gradient with Rebirth Mechanism to Multi-DOF Manipulator." Electronics 10, no. 7 (2021): 870. http://dx.doi.org/10.3390/electronics10070870.

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As a research hotspot in the field of artificial intelligence, the application of deep reinforcement learning to the learning of the motion ability of a manipulator can help to improve the learning of the motion ability of a manipulator without a kinematic model. To suppress the overestimation bias of values in Deep Deterministic Policy Gradient (DDPG) networks, the Twin Delayed Deep Deterministic Policy Gradient (TD3) was proposed. This paper further suppresses the overestimation bias of values for multi-degree of freedom (DOF) manipulator learning based on deep reinforcement learning. Twin Delayed Deep Deterministic Policy Gradient with Rebirth Mechanism (RTD3) was proposed. The experimental results show that RTD3 applied to multi degree freedom manipulators is in place, with an improved learning ability by 29.15% on the basis of TD3. In this paper, a step-by-step reward function is proposed specifically for the learning and innovation of the multi degree of freedom manipulator’s motion ability. The view of continuous decision-making and process problem is used to guide the learning of the manipulator, and the learning efficiency is improved by optimizing the playback of experience. In order to measure the point-to-point position motion ability of a manipulator, a new evaluation index based on the characteristics of the continuous decision process problem, energy efficiency distance, is presented in this paper, which can evaluate the learning quality of the manipulator motion ability by a more comprehensive and fair evaluation algorithm.

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Suthar, Bhivraj. "Design of energy efficient four finger robotic hand." IAES International Journal of Robotics and Automation (IJRA) 5, no. 1 (2016): 1. http://dx.doi.org/10.11591/ijra.v5i1.pp1-5.

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<span>Future would be the world of robotics. Human arm is the best serial manipulator in the world. End part of manipulator is known as End effector or hand. At the end of serial manipulator we always put gripper just like our hand. Today many mechanisms have been proposed for robotic hand. We proposed a novel mechanical design and we used one motor to operate the gripper mechanism and it consumes less electrical power than other gripper. For energy efficient robot we have to reduce the number of motors and have to look in the mechanical design. In this paper we targeted to make gripper more energy efficient. We used only one motor to operate four fingers symmetrically. Our proposed model has four fingers, each are placed orthogonally to each other. In market, other manufactures use single motor for motion of each finger. Each motor has its own power consumption capacity to manipulate the load on finger. We replaced all four motors with single motor by Geneva mechanism. So electrical power consumption reduced by 1/4th. Energy conservation point of view it is energy efficient system. This paper presents a methodology that has been applied for a design mechanism for energy efficient robotic hand with four fingers. Wide applications of gripper are in automobile industries. Automobile companies are used gripers and serial manipulators in plenty</span>

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Ding, Wen Hua, Hua Deng, Yi Zhang, and Yao Qing Ren. "Optimum Design of the Jaw Clamping Mechanism of Forging Manipulators Based on Force Transmissibility." Applied Mechanics and Materials 157-158 (February 2012): 737–42. http://dx.doi.org/10.4028/www.scientific.net/amm.157-158.737.

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In this paper, the jaw clamping mechanism of a forging manipulator is regarded as a slider-crank mechanism. First, the force Jacobian matrix of the mechanism is obtained according to the dual relationship of velocity Jacobian matrix and force Jacobian matrix. Then, the performance atlases of the global force transmission index and the input space index that represents the motion range of the jaw are drawn with different inputs for the mechanisms of the nondimensional parameters. Furthermore, we research the effect of these structure parameters of the mechanism on the gripping force transmission and input space, and find an optimal range in the force transmission atlas. Finally, we synthesize a detail optimal flowchart of the jaw clamping mechanism of forging manipulators based on force transmissibility. A jaw clamping mechanism of a forging manipulator is studied as an example, and results show that the method presented in this paper is effective for finding an optimal gripper mechanism. The research in this paper can be served as fundamentals of design and optimization of the jaw clamping mechanism of forging manipulators.

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Lu, Yi, Cong Cong, Chen Liwei, and Peng Wang. "Solving elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 12 (2013): 2810–24. http://dx.doi.org/10.1177/0954406213478374.

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It has been a significant and challenging issue to determine the elastic deformation of parallel manipulators for their precision analysis and control. A new method is proposed and studied for solving the elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry. First, an original simulation mechanism of a parallel manipulator is constructed; each of the vectors in the force transformation matrix of the parallel manipulators is constructed by this simulation mechanism. The active/constrained wrench and their pose are determined based on the Newton–Euler formulation. Second, the elastic deformed dimensions of the active legs are determined based on the elastic deformation equation and the active/constrained wrench. Third, a new simulation mechanism of this parallel manipulator is constructed by replacing the original dimensions of active legs with the deformed dimensions of active legs and the elastic deformations of parallel manipulators are solved using the pose difference between the original and new simulation mechanisms. Finally, two parallel manipulators are illustrated and their elastic deformations are solved and verified by both analytic approach and finite element method.

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Danshina, Anzhela, Oleg Kravchenko, and Azamat Bekin. "Improvement Methods and Ways of Manipulator Electromechanical Force Compensating System." Известия высших учебных заведений. Электромеханика 64, no. 1 (2021): 69–76. http://dx.doi.org/10.17213/0136-3360-2021-1-69-76.

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In paper electromechanical system for force compensating medium manipulator used in industry for motion different cargo was presented. Working purpose is determination of research method of manipulator with force compensating control system. Improvement methods and ways of current force compensating manipulator sys-tem are concerned. Research showed that now light-weight structures of manipulators with elastic mechanical transmissions are used. Low stiffness of mechanisms increases elastic mechanical vibration of cargo. Active methods of compensation are used using an electric drive with a force control system in executive mechanism of manipulator for realization of compensation of cargo weight and damping of elastic mechanical vibrations. Control system is recommended to build with main force feedback in elastic element. Multifactorial method is rational to use during choosing device of manipulator electromechanical module. This method considers the most main operating conditions of manipulator. Problem solution of control influence synthesizing must make with correctors with differentiating properties. Studies have shown that proposed methods for improving force compensating manipulators will make structure as lightweight, reduce inertia, increase working area of manipulator, and improve quality of operations for moving various cargos

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Qazani, Mohammad Reza Chalak, Siamak Pedrammehr, Arash Rahmani, et al. "Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system." Robotica 33, no. 08 (2014): 1686–703. http://dx.doi.org/10.1017/s0263574714000988.

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SUMMARYParallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. However, most of the proposed parallel manipulators suffer from a limited workspace. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. Since parallel mechanisms have more workspace limitations compared to that of serial mechanisms, determination of the workspace in parallel manipulators is of the utmost importance. For finding position, angular velocity, and acceleration, in this paper, inverse and forward kinematics of the mechanism are studied and after presenting the workspace limitations, workspace analysis of the hexarot manipulator is performed by using MATLAB software. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. Finally, it is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations.

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Li, Xiaopeng, Dongyang Shang, Haiyang Li, and Fanjie Li. "Resonant Suppression Method Based on PI control for Serial Manipulator Servo Drive System." Science Progress 103, no. 3 (2020): 003685042095013. http://dx.doi.org/10.1177/0036850420950130.

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A typical serial manipulator consists of a servo motor, a serial mechanism and an independent joint placed between the motor and the serial mechanism. Both the time-varying characteristics of the inertia of the serial mechanism and the flexibility characteristics of the independent joint are widely found in serial manipulator servo drive systems. These two characteristics not only increase the resonance magnitude of serial manipulators, but also affect the dynamic characteristics of the system. In order to obtain a stable output speed of serial manipulators, the variable parameters of a PI control strategy is applied to a serial manipulator servo drive system. Firstly, dynamic model of a serial manipulator servo drive system is established based on a two-inertia system. Then the transfer function from motor speed to motor electromagnetic torque is derived by the state-space equation. Furthermore, the parameters of the PI controller are designed and optimized utilizing three different pole assignment strategies with the identical radius, the identical damping coefficients, and the identical real parts. The results indicate that a serial manipulator servo drive system can obtain good dynamic characteristics by selecting parameters of the PI controller appropriately.

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Riedel, M., M. Nefzi, and B. Corves. "Grasp planning for a reconfigurable parallel robot with an underactuated arm structure." Mechanical Sciences 1, no. 1 (2010): 33–42. http://dx.doi.org/10.5194/ms-1-33-2010.

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Abstract. In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping). This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

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Liu, Xin-Jun, Jinsong Wang, Feng Gao, and Li-Ping Wang. "Mechanism design of a simplified 6-DOF 6-RUS parallel manipulator." Robotica 20, no. 1 (2002): 81–91. http://dx.doi.org/10.1017/s0263574701003654.

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This paper concerns the issue of mechanism design of a simplified 6-DOF 6-RUS parallel manipulator. The design of robotic mechanisms, especially for 6-DOF parallel manipulators, is an important and challenging problem in the field of robotics. This paper presents a design method for robotic mechanisms, which is based on the physical model of the solution space. The physical model of the solution space, which can transfer a multi-dimensional problem to a two or three-dimensional one, is a useful tool to obtain all kinds of performance atlases. In this paper, the physical model of the solution space for spatial 6-RUS (R stands for revolute joint, U universal joint and S spherical joint) parallel manipulators is established. The atlases of performances, such as workspace and global conditioning index, are plotted in the physical model of the solution space. The atlases are useful for the mechanism design of the 6-RUS parallel manipulators. The technique used in this paper can be applied to the design of other robots.

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Lu, Yi, and Bo Hu. "A Unified Approach to Solving Driving Forces in Spatial Parallel Manipulators With Less Than Six DOFs." Journal of Mechanical Design 129, no. 11 (2006): 1153–60. http://dx.doi.org/10.1115/1.2771237.

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A unified approach to solving driving forces in spatial parallel manipulators with less than six DOFs is proposed. First, the geometric constrained equations of the parallel manipulators are derived, and some independent pose parameters and a common transformation matrix with three translations and three Euler rotations are determined. Second, the common formulas for solving inverse kinematics, the Jacobian matrix, and velocity are derived. Third, a common virtual serial mechanism with three virtual prismatic joints and three virtual revolute joints corresponding to three Euler rotations is constructed. Fourth, a common analytic formula for solving driving forces in spatial parallel manipulators with less than six DOFs is derived by using the principle of virtual work and the virtual serial mechanism. Finally, a 3-SPR parallel manipulator with three DOFs and a 4SPS+SPR parallel manipulator with five DOFs are presented to illustrate the use of the unified approach to solve their inverse kinematics and the driving forces. The solving results are verified by the simulation mechanisms.

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Xue, Zi Yun. "An Introduction to Parallel Robot Mechanism." Advanced Materials Research 605-607 (December 2012): 1609–12. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.1609.

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With the dual relationship between parallel mechanism and serial mechanism on the structure and performance characteristics, the emergence of parallel mechanism, expand the areas of application of the robot. In this paper, a survey on the origin, main characteristics, field of application, and theoretical research of parallel manipulators are reviewed. Finally, some important problems of the parallel manipulator are mentioned to be solved.

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Xu, Yundou, Yu Liu, Jiantao Yao, and Yongsheng Zhao. "Analysis of a novel lifting mechanism for forging manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 229, no. 3 (2014): 528–37. http://dx.doi.org/10.1177/0954406214535924.

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In this paper, a hybrid serial–parallel forging manipulator was put forward, which is composed of a planar five-bar mechanism and a two-limb parallel mechanism in series. Forging manipulator’s DOF properties and motion principle were analyzed by means of screw theory. The position solution of the main motion mechanism of manipulator was derived in the grasping stage, which was used to solve input displacements of lifting and pitching hydraulic cylinders depending on the requirements of forged piece’s lifting height and pitching angle. Dimensional optimization of the manipulator’s main motion mechanism is carried out based on position equations, resulting in that the gripper carrier’s lifting motion was decoupled from the horizontal motion. The analytical expression between driving forces of each hydraulic cylinder and external load was derived by solving the first-order derivative of position equations and using principle of virtual work. The results showed that for the parallel-link manipulator, when gripper carrier is horizontal, driving force of lifting hydraulic cylinder is only related to forged piece’s gravity but not to gravitational moment. The mechanism of this phenomenon was also further studied. Experimental model with ratio 1:20 of forging manipulator’s lifting mechanism was developed, and kinematic and static experiments were conducted on it to verify the dimensional optimization results and the conclusion was obtained by the statics.

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Nguyen Phu, Sinh, Terence Essomba, Irwansyah Idram, and Jiing-Yi Lai. "Kinematic analysis and evaluation of a hybrid mechanism for computer assisted bone reduction surgery." Mechanical Sciences 10, no. 2 (2019): 589–604. http://dx.doi.org/10.5194/ms-10-589-2019.

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Abstract. In severe fracture cases, a bone can be separated into two fragments and it is mandatory to reposition the bone fragments together. This type of surgery is called “bone reduction surgery”. Originally, the operation consisted in manipulating the bones fragments by hand in open surgery. The most advanced technique relies on robotic manipulators providing higher precision and stability. A new mechanical architecture is proposed based on a 3-RPS tripod parallel mechanism combined with a Double Triangular Planar parallel mechanism. Its kinematic and velocity models are calculated and the parasitic motion generated by the tripod mechanism is considered in the final result. The workspace it can generate is compared to the Stewart manipulator, which is a classical mechanism for the targeted application. The use of a robotic manipulator is due to be part of an entire surgical procedure involving a pre-operative simulation software dedicated to pre-planning reduction surgery, namely PhysiGuide. It is used to measure the kinematic associated with bone fragments manipulation and transfer it to the robot during the intra-operative phase. Simulations are then performed based on a real patient's fracture images showing the suitability of the present mechanism with bone reduction surgery.

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Ono, Yoshiki, and Toshio Morita. "Vertical Planar Underactuated Manipulation Using a Gravity Compensation Mechanism." Journal of Robotics and Mechatronics 17, no. 5 (2005): 553–59. http://dx.doi.org/10.20965/jrm.2005.p0553.

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We propose generating and erasing equilibrium points for passive joints, together with an underactuated manipulator having both vertical and horizontal planar type. This manipulator implements three degrees of freedom (DOF) by combining a passive two-DOF mechanical gravity canceller and an active base joint. Equilibrium points are erased and adjusted by angular variation of the base joint so equilibrium points are erased when gravity torque is zero. If gravity torque is not zero, equilibrium points depend on angular variation of the base joint. Experimental results show position control of the distal link through the mechanical gravity canceller is effective for underactuated manipulation.

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Xiao, Yongfei, Shuhui Bi, Xuelin Wang, Xiangdong Li, and Xinjian Fan. "Analysis and Optimization for Balancing Mechanism of High-Speed & Heavy-Load Manipulators." Journal of Robotics and Mechatronics 26, no. 5 (2014): 622–27. http://dx.doi.org/10.20965/jrm.2014.p0622.

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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/11.jpg"" width=""300"" />Balancing mechanism of robots</div> Heavy-load manipulators usually have a balance to minimize energy consumption and maximize payload capacity. Appropriate design parameters are important to balancing devices in improving performance. We propose evaluating optimal parameters to achieve the best possible manipulator motion features. A dynamic manipulator model with a parallel-link mechanism is analyzed using the Lagrange principal. We also propose a way to reduce nonlinear influence while improving payload capacity. The optimized method is used for instructing how to design and optimize heavyload manipulators, as shown through simulation and experiments. </span>

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Khan, Zeba, Hrishikesh Zambare, Suhas Deshmukh, and Abhijeet Shinde. "Parametric FEA Analysis of Double Flexural Manipulator for Precision Application." Applied Mechanics and Materials 612 (August 2014): 59–64. http://dx.doi.org/10.4028/www.scientific.net/amm.612.59.

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A Flexural mechanism uses flexibility of material for desired motion objectives. As compared rigid-body mechanisms where actuations are applied at the joints connecting rigid links, the manipulation of the Flexural mechanism relies on the deflection of internal flexible members. Flexural mechanisms have no relative moving parts (and thus involve no wear, backlash, noise and lubrication), are relatively compact in design as compared to rigid link mechanism. Double Flexural Manipulator (DFM) is basic building block for planar flexural mechanism. This paper explains working principle of DFM and its parametric modelling. DFM has three basic parameters which decides range of motion, actuator requirement (Peak force and continuous force). In this paper Parametric FEA analysis is carried on DFM and verified with Analytical Model. This parametric modelling can be further used for designing and developing a flexural mechanism for precision applications.

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Sun, Xue Dong, Lian Feng Zhao, Tian Tian Niu, and Han Ming Cai. "Control System Design of the Automatic Sorting and Palletizing Manipulator for Passenger Car Tire." Advanced Materials Research 542-543 (June 2012): 914–18. http://dx.doi.org/10.4028/www.scientific.net/amr.542-543.914.

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In this paper the object of study is automatic sorting and palletizing manipulator for passenger car tire. It designed the driving mechanism and control system of the manipulator. There are 3 degrees of freedom with the automatic sorting and palletizing manipulator in this paper. The horizontal and vertical movement of manipulator's movable parts is drived by servo motor. And manipulator's gripper grabs and places tires by cylinder drive. In addition, the centering device opens or tightens 4 embraced arms by cylinder drive. A touch-screen is used as the man-machine interface, which can represent manipulator's operation process and results. Realizing the control of the manipulator by PLC combined with the corresponding software programming.

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Xu, Yundou, and Yongsheng Zhao. "2B21 Kinematic analysis of the lifting mechanism of one forging manipulator." Proceedings of the Symposium on the Motion and Vibration Control 2010 (2010): _2B21–1_—_2B21–7_. http://dx.doi.org/10.1299/jsmemovic.2010._2b21-1_.

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Sundar, Syam, Vijay S. Rathore, Manoj K. Sahi, V. Upendran, and Anjan Kumar Dash. "Workspace Analysis and Going through Singularities of 5-Bar Symmetric Planar Parallel Manipulator by Automated Selective Actuation Mechanism." Advanced Materials Research 588-589 (November 2012): 1664–68. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1664.

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In this article‚ a new approach is presented to determine the various shapes of workspaces of 5 bar symmetric planar parallel manipulators. Here the shape of the workspace is determined by the number of ways the workspaces of the two serial manipulators intersect with each other. Geometric conditions are established in each case and area of each shape of workspace is determined in closed form. Singularity is another important consideration in the design of parallel manipulators. In this paper, an approach is presented to go through the singularity points using an automatic selective actuation mechanism. A prototype 5-bar planar manipulator is fabricated along with an automatic selective actuation mechanism demonstrating the manipulator going through the singularity points.

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Wang, Shuai Jun, Bo Zhang, Xin Wang, and Xue Qian Wang. "Design and Research of a Novel Fast Connecting and Separating Modular Space Manipulator." Applied Mechanics and Materials 775 (July 2015): 357–62. http://dx.doi.org/10.4028/www.scientific.net/amm.775.357.

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With the increasing complexity of the space mission, the ability of fast reconstruction of manipulator is more and more important. To solve the problem of space manipulator’s fast reconstruction, this paper designs a novel manipulator that contains mechatronics modular joints and a connecting mechanism. Compared to the traditional manipulator, the manipulator in this paper have the advantage of great convenience of assembling and replacement of the modular joint. In this paper, we analyze the relationship between tolerance ability and structural parameters and computed the tolerance ability after optimization of the connecting mechanism; Using the perturbation method, we conducted the simulation of analysis error. Results show that relationship between the end position error and the error of the modular joints is approximate linear, which providing a theory instruction for the design of manipulator.

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Lu, Yi, Xuepeng Li, Canguo Zhang, and Yang Liu. "Analysis of kinematics and statics for a novel 6-DoF parallel mechanism with three planar mechanism limbs." Robotica 34, no. 4 (2014): 957–72. http://dx.doi.org/10.1017/s0263574714001994.

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SUMMARYA novel 6-degree-of-freedom (DoF) parallel manipulator with three planar mechanism limbs is proposed and its kinematics and statics are analyzed systematically. First, the characteristics of the proposed manipulator are analyzed and the degree of freedom is calculated. Second, the formulae for solving the displacement, the velocity, and the acceleration are derived. Third, an analytic example is given for solving the kinematics and statics of this manipulator, and the analytic solved results are analyzed and verified by the simulation mechanism. Finally, a workspace is constructed and analyzed based on a comparison between the proposed manipulator and another 6-DoF parallel manipulator.

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Hu, B., and Y. Lu. "Analyses of kinematics, statics, and workspace of a 3-RRPRR parallel manipulator and its three isomeric mechanisms." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, no. 9 (2008): 1829–37. http://dx.doi.org/10.1243/09544062jmes928.

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A novel 3-RRPRR parallel manipulator with three pure translational movements and a relative larger workspace is proposed. Its three isomeric mechanisms 3-RR PU, 3-R PRU, and 3-U PU with three pure translational movements are constructed by varying dimensions of some links. Their common kinematic characteristics, workspace, and singularity are analysed, the active force and the constrained torque are solved. First, a simulation mechanism of the 3-RR PRR manipulator is created, and its kinematics, singularity, and workspace are analysed by using an analytical approach and a computer-aided design (CAD) variation geometry approach. Second, the common analytical formulae for solving the displacement, velocity, and acceleration of the four manipulators are derived. Third, the formulae for solving the active forces and constrained torques of the 3-RR PRR manipulator are derived. The analytic-solved results are verified by their simulation mechanisms.

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Kazerooni, H., and S. Kim. "On the Design and Construction of Direct-Drive Robots." Journal of Engineering for Industry 112, no. 2 (1990): 197–201. http://dx.doi.org/10.1115/1.2899568.

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In this research, a statically-balanced direct-drive manipulator is designed and constructed to achieve improved dynamic behavior for compliance control [10, 11, 12]. The manipulator mechanism, incorporating a four-bar linkage, is designed so that its functional parts are balanced in all positions without the addition of counterweights. The motors are never loaded by gravity. As a result, smaller motors with less torque can be used to achieve higher speed, accuracy, and repeatability in fine manipulation tasks. The robot is powered by high-torque AC synchronous motors. The mechanism is comprised of graphite-epoxy and AA7075T6 aluminum materials. The manipulator is controlled by a parallel processor computer.

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Tsai, Lung-Wen, and Sameer Joshi. "Kinematic Analysis of 3-DOF Position Mechanisms for Use in Hybrid Kinematic Machines." Journal of Mechanical Design 124, no. 2 (2002): 245–53. http://dx.doi.org/10.1115/1.1468860.

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This paper introduces a new kinematic architecture called the hybrid kinematic machine. A hybrid kinematic machine typically consists of a position mechanism and an orientation mechanism that can be arranged in series or in parallel to achieve the notion of modular and reconfigurable machining centers. To demonstrate the concept, four parallel manipulators with translational motion characteristics have been identified. The kinematics of these mechanisms are described. Then, the well-conditioned workspace of each mechanism is maximized, and the stiffness properties are mapped. A comparison of the workspace volume and stiffness properties of these four mechanisms indicates that the 3-RUU manipulator appears to be the best design among the four architectures.

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Hsieh, Ming-Chu, and Zhen-Hong Khong. "Design and analysis for manipulator fixture applications." MATEC Web of Conferences 185 (2018): 00031. http://dx.doi.org/10.1051/matecconf/201818500031.

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The manipulators arms are the most important components in automatic machinery and equipment. These arms must conform to product requirements and match important accessory devices such as clamping jaw so that the entire process operates properly. Therefore the most important issue is that the manipulator arm has only one clamping jaw, followed by other issues such as welding and related features. In this research the manipulator arm of automated machinery with attached equipment was optimized, and the design serves as an object of study for multifunctional applications. This research emphasizes on customized manipulator design to create products with distinguished styles and characteristics, and serve as a basis for an improvement on innovative design. Manipulator arms from different manufacturers with various head-disc size and screw-hole locations were investigated, and concept of human palm was incorporated in the design to create a mechanical fixture that can be fitted into the arm. Overall design including main body of the manipulator, pneumatic cylinder set, gear and connecting rod combination, planet gear set, and linkage rods and fixture. These components were combined to offer the functions of the manipulator. Commercial software package, SolidWorks, was used to construct the model for the manipulator arm, and CAE analysis was implemented to identify the stress on the structure and possible interferences of the mobile components. Stress analysis was also performed on the gear set under pneumatic loading to ensure that the gear mechanism has a sufficient strength. The results of this study showed that an arc shaped manipulator body is the most easily handled during installation and most effectively controlled during operation. The simple profiles of the manipulator also lower the space required for storage. The design of the gear set and integrated application of the shaft helps prevent loosening of gear and shaft during operation. In this study, a manipulator was designed with three different functions, each fixture is powered by an isolated pneumatic cylinder, and this mechanism can be manipulated to form o0to o180clamping action in accordance with requirements of the task. The methods and results of this study serve as a reference for machinery industry to achieve high quality product, and also as a basis for innovative design.

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Cui, Guohua, Jian Liu, Zhi Hu, Yanwei Zhang, and Hongjuan Hou. "Performance analysis and optimization of a rigid-flexible parallel manipulator." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 23 (2020): 4620–35. http://dx.doi.org/10.1177/0954406220928379.

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In order to meet the design requirements of friction stir welding equipment, a three-degree-of-freedom rigid-flexible 3UPS-UP-3Cable-Driven (3UPS-UP-3CD) parallel manipulator was applied to the main feed mechanism of the friction stir welding robot. The kinematics analysis of the new parallel manipulator was carried out, and the complete homogeneous dimensional Jacobian matrix of the 3UPS-UP-3CD manipulator was solved. Through kinematic performance analysis, the carrying capacity, dexterity and stiffness of 3UPS-UP-3CD manipulator are obviously better than 3UPS-UP mechanism, and the impact of cables on the workspace can also be eliminated by adjusting the dimension parameter. The composite quality workspace map of the manipulator was drawn, and the composite kinematic performance index was proposed. Multiobjective optimization was completed for 3UPS-UP-3CD manipulator, and its performance was improved. The dynamic analysis of the manipulator was carried out, and the driving forces of two mechanisms were calculated under two trajectories. The results showed that the maximum driving force of 3UPS-UP-3CD manipulator was lower than 3UPS-UP mechanism, which proved that 3UPS-UP-3CD manipulator was more suitable for heavy-duty conditions.

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Ivanov, Konstantin Samson, and Baurjan Tultayev. "Adaptive Hydraulic Drive of Manipulator." Applied Mechanics and Materials 841 (June 2016): 215–20. http://dx.doi.org/10.4028/www.scientific.net/amm.841.215.

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At present in manipulators the hydraulic drives with one degree of freedom are used. Such drive provides single-valued function of constraint between input and output links motion. However for overcoming of variable force of resistance it is necessary to use the variable transfer ratio between input and output links. The adjustable drive should contain the controlled gear box. Such drive contradicts the demand of minimization of weight and sizes of modules of the manipulator. Use of electronic control systems for force regulating leads to extreme complication of drives, decrease in their reliability, raise of cost of manufacturing and maintenance.Recently the adaptive self-controlled mechanical systems were appeared. By analogy to the adaptive mechanism the hydraulic adaptive mechanism which provides force self-regulation without a control system has been developed and the patent for invention was received.In paper the description and research of the adaptive hydraulic mechanism and creation of the manipulator module with the simplest compact hydraulic drive are adduced.

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SASAKI, Ayumu, Toshikazu KAWAI, Atsushi NISHIKAWA, Yuji NISHIZAWA, and Tatsuo NAKAMURA. "Forceps Manipulator with Diagonal Joint Mechanism." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 2A2—D10. http://dx.doi.org/10.1299/jsmermd.2020.2a2-d10.

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Zakharov, E. N., I. A. Nesmiyanov, and M. E. Nikolaev. "Manipulator-tripod on mounted parallelogram mechanism." IOP Conference Series: Materials Science and Engineering 489 (March 26, 2019): 012062. http://dx.doi.org/10.1088/1757-899x/489/1/012062.

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Ma, Guangying, Yuan Chen, Yunlong Yao, and Jun Gao. "Kinematics and Singularity Analysis of a Four-Degree-of-Freedom Serial-Parallel Hybrid Manipulator." Journal of Robotics and Mechatronics 29, no. 3 (2017): 520–27. http://dx.doi.org/10.20965/jrm.2017.p0520.

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[abstFig src='/00290003/07.jpg' width='300' text='4DOF serial-parallel hybrid manipulator' ] For adapting to the complex working environments of amphibious manipulators, we proposed a serial-parallel hybrid quadruped walking manipulator. We simplified the leg mechanism of the serial-parallel hybrid manipulator as a 2UPU-UPR parallel mechanism, and then analyzed the degree of freedom (DOF) of the parallel mechanism by using the screw theory. The results show that the position of the<span class=”bold”>Y</span>direction and the pose of the<span class=”bold”>Z</span>direction are two independent variables which influence the mechanism movement. We deduced the kinematics inverse solution and the velocity Jacobian matrix of the 2UPU-UPR parallel mechanism. Based on the analysis of the Jacobian matrix, three kinds of kinematic singularities of the 2UPU-UPR parallel mechanism are identified. The results show that the 2UPU-UPR parallel mechanism doesn’t have the kinematic inverse singularity, but it has three kinds of kinematic forward singularities and two kinds of combined singularities. Finally, the variation of motorial parameters of this 2UPU-UPR parallel mechanism was discussed by a calculation example.

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Liu, Meng Si, Yi Cao, Qiu Ju Zhang, Clément Gosselin, Jian Chun Sun, and Bao Kun Li. "Kinematics and Workspace Analyses of 3/3-RRRS Parallel Manipulator." Applied Mechanics and Materials 155-156 (February 2012): 1090–95. http://dx.doi.org/10.4028/www.scientific.net/amm.155-156.1090.

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It is known that two primary disadvantages of parallel manipulators are the complicated forward kinematics and limited workspace. This paper mainly addressed the kinematics and workspace analyses of a 3/3-RRRS 6-DOF parallel manipulator. After a brief introduction of the 3/3 -RRRS 6-DOF parallel manipulator, a three-dimensional model and its relevant structure diagram are constituted, the forward and inverse displacement analyses of the 3/3-RRRS parallel manipulator are discussed in detail, especially, a novel geometrical method referred as equivalent mechanism is proposed for the forward displacement analysis of the manipulator under consideration. Based on the displacement analyses of the manipulator, a discretization method is proposed for the computation of the reachable position/orientation workspace of the 3/3-RRRS parallel manipulator, respectively. Examples of a 3/3-RRRS parallel manipulator are given to demonstrate these theoretical results.

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Filippov, Gleb S., Konstantin A. Shalyukhin, Gagik V. Rashoyan, Viktor A. Glazunov, Sergey A. Skvortsov, and Alexandr K. Aleshin. "PARALLEL MANIPULATOR MECHANISM FOR USE IN ROBOTIC SURGERY." Technologies & Quality 51, no. 1 (2021): 46–51. http://dx.doi.org/10.34216/2587-6147-2021-1-51-46-51.

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The article examines the mechanisms of parallel and parallel-sequential structure, including specific translational-guides, flat, spherical mechanisms of a parallel structure with three degrees of freedom, modifications of Delta robots from various manufacturers. The most famous studies of robots of parallel-serial structure are presented. Mazor Renaissance and Mazor X robotic systems for robotic assistance during spinal surgery are examined. The method of synthesis of mechanisms of parallel-serial structure with five degrees of freedom is briefly presented. Examples of synthesised schemes of mechanisms and three-dimensional schemes, synthesised using in the computer-aided design system Compass 3D, are given. A diagram of a mechanism of a parallel-sequential structure with five degrees of freedom for robotic assistance during minimally invasive operations, which can be used as an alternative to the da Vinci Surgical System Platform, is examined. An example of modelling the solution of the inverse problem of positions, direct and inverse problems of velocities and direct and inverse dynamic problems in the Mathcad system, the result of modelling the motion of the output link in various initial conditions is given. The results of experimental studies using a prototype mechanism are shown.

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Noveanu, Simona, Călin Rusu, and Dan Mândru. "Design and Simulation the Manipulator SI2M Used in Microfactories." Applied Mechanics and Materials 762 (May 2015): 27–32. http://dx.doi.org/10.4028/www.scientific.net/amm.762.27.

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In the precision engineering field, a large number of applications require precise and micro-level manipulation. In the last decade the demand of micro products and miniaturization has seen a wide spread growth. The microfactories concept was first developed in In the precision engineering field, a large number of applications require precise and micro-level manipulation. In the last decade the demand of micro products and miniaturization has seen a wide spread growth. The microfactories concept was first developed in the late twentieth century in Japan. With the development of the microfactories field has evolved the compliant mechanisms field. In this paper a microrobotic cell with an original manipulator for microassembly with a compliant gripper is designed, simulated and analyzed. The compliant gripper is mounted on a five bar mechanism with conventional joints in order to achieve a larger workspace. The vertical motion is produced by the linear actuator. The kinematics of the five bar mechanism and the workspace boundaries are analyzed based on the input parameters. For the compliant gripper is realized a 3D model and FEM analysis is conducted based on input displacement by the piezoelectric actuator. late twentieth century in Japan. With the development of the microfactories field has evolved the compliant mechanisms field. In this paper a microrobotic cell with an original manipulator for microassembly with a compliant gripper is designed, simulated and analyzed. The compliant gripper is mounted on a five bar mechanism with conventional joints in order to achieve a larger workspace. The vertical motion is produced by the linear actuator. The kinematics of the five bar mechanism and the workspace boundaries are analyzed based on the input parameters. For the compliant gripper is realized a 3D model and FEM analysis is conducted based on input displacement by the piezoelectric actuator.

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Blatnický, Miroslav, Ján Dižo, Juraj Gerlici, Milan Sága, Tomáš Lack, and Erik Kuba. "Design of a robotic manipulator for handling products of automotive industry." International Journal of Advanced Robotic Systems 17, no. 1 (2020): 172988142090629. http://dx.doi.org/10.1177/1729881420906290.

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Automation is a process of handling and transport of products, which allows replacing man’s control by operation of manipulators and robots. It represents a highly complex process, which includes several operations and they are usually performed automatically by particular devices. In this article, a technical design of a universal versatile robotic manipulator for handling with automotive products is presented. The designed device is intended for handling with automotive products with a maximum weight of 25 kg. The technical solution of the manipulator comes from required specifications and operation conditions given by the customer, who will install it as a part of an automatic line. A particularity of the manipulator is the special functionality, which allows handling with objects of both circular and angular shapes. This is ensured by adaptable gripping fingers, which are able to adjust their position by means of a well-considered mechanism. The technical design of the manipulator includes calculation of forces needed for reliable gripping of manipulated objects, choice of a working screw and calculation of the load and carrying out of strength analyses of the main loaded part of the manipulator. Based on results, there is recommended an appropriate material for the manufacture of the device to reach its optimal accuracy of positioning of handled objects during a long-term operation.

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Zi, Bin, Jianbin Cao, Zhencai Zhu, and Peter Mitrouchev. "Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator." Mathematical Problems in Engineering 2013 (2013): 1–15. http://dx.doi.org/10.1155/2013/914653.

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The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM) are presented. The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism. The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The workspace of the manipulator is analyzed additionally. As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis. The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.

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Saafi, Houssem, and Houssein Lamine. "Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use." Robotica 38, no. 8 (2019): 1463–77. http://dx.doi.org/10.1017/s0263574719001577.

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SUMMARYThis paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

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Huang, Long, Lei Yu Zhang, Yang Yang, Li Jun Shen, and Yi Qi Chen. "Design and Analysis of a Robot-Assisted Manipulator in Retinal Vascular Bypass Surgery." Applied Mechanics and Materials 190-191 (July 2012): 673–78. http://dx.doi.org/10.4028/www.scientific.net/amm.190-191.673.

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Retinal vascular bypass surgery (RVBS) is a kind of complicated operation, with high precision and dexterous manipulation limited to small workspace. It is necessary to design a robot-assisted manipulator for performing such a task. The process of RVBS is described according to clinic operation at first. The motion of surgeon and workspace of surgical instruments are analyzed; correspondingly, motions of robot-assisted manipulator are obtained. Then, mechanism of manipulator including remote center of motion (RCM) is proposed through considering constraints induced by pierce points of sclera. Finally, inverse kinematics of the proposed robot-assisted manipulator is done to realize retinal surface motion. The analysis results show the end-effectors of robot-assisted manipulator can reach arbitrary position on the retinal surface.

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