Relevant bibliographies by topics / Planar Parallel Manipulator

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Planar Parallel Manipulator'

Author: Grafiati
Published: 4 June 2021
Last updated: 15 February 2022

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Journal articles on the topic "Planar Parallel Manipulator"

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Atia, Khaled R., and M. P. Cartmell. "A general dynamic model for a large-scale 2-DOF planar parallel manipulator." Robotica 17, no. 6 (November 1999): 675–83. http://dx.doi.org/10.1017/s0263574799001794.

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In this work a new concept of designing two degree of freedom (2-DOF) planar parallel manipulators (PPMs) is presented. With this design the manipulator's workspace can be increased by increasing the number of cells in the manipulator. A general dynamic model is formulated for the manipulator with any number of cells. The model is adapted for SCARA and ADEPT configurations, and a new approach for balancing these type of manipulators is proposed.
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Karnam, Murali K., Aravind Baskar, Rangaprasad A. Srivatsan, and Sandipan Bandyopadhyay. "Computation of the safe working zones of Planar and Spatial Parallel Manipulators." Robotica 38, no. 5 (July 25, 2019): 861–85. http://dx.doi.org/10.1017/s0263574719001139.

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SUMMARYThis paper presents the computation of the safe working zone (SWZ) of a parallel manipulator having three degrees of freedom. The SWZ is defined as a continuous subset of the workspace, wherein the manipulator does not suffer any singularity, and is also free from the issues of link interference and physical limits on its joints. The proposed theory is illustrated via application to two parallel manipulators: a planar 3-R̲RR manipulator and a spatial manipulator, namely, MaPaMan-I. It is also shown how the analyses can be applied to any parallel manipulator having three degrees of freedom, planar or spatial.
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Parsa, S. S., J. A. Carretero, and R. Boudreau. "Internal redundancy: an approach to improve the dynamic parameters around sharp corners." Mechanical Sciences 4, no. 1 (May 28, 2013): 233–42. http://dx.doi.org/10.5194/ms-4-233-2013.

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Abstract. In recent years, redundancy in parallel manipulators has been studied broadly due to its capability of overcoming some of the drawbacks of parallel manipulators including small workspaces and singular configurations. Internal redundancy, first introduced for serial manipulators, refers to the concept of adding movable masses to some links so as to allow to control the location of the centre of mass and other dynamic properties of some links. This concept has also been referred to as variable geometry. This paper investigates the effects of internal redundancy on the dynamic properties of a planar parallel manipulator while performing a family of trajectories. More specifically, the 3-RRR planar manipulator, where a movable mass has been added to the distal link, is allowed to trace trajectories with rounded corners and different radii. The proposed method uses the manipulator's dynamic model to actively optimise the location of the redundant masses at every point along the trajectory to improve the dynamic performance of the manipulator. Numerical examples are shown to support the idea.
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Arrouk, Khaled Assad, Belhassen Chedli Bouzgarrou, Sergiu Dan Stan, and Grigore Gogu. "CAD Based Design Optimization of Planar Parallel Manipulators." Solid State Phenomena 166-167 (September 2010): 33–38. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.33.

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In this paper a new method for determination and optimization of the workspace of parallel manipulators is presented. The proposed method is based on a geometrical approach, and offers the possibility to generate automatically the workspace in a CAD environment. Thus, the relationship between the geometrical design parameters of the parallel manipulator and its workspace can be analyzed without difficulty. Optimization problem considered in this paper consists in determining the dimensions of a parallel manipulator having the closest workspace to a prescribed task region. Finally, numerical applications of two types of planar parallel manipulators are presented in order to illustrate the proposed approach.
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Alıcı, Gürsel, and Bijan Shirinzadeh. "Optimum synthesis of planar parallel manipulators based on kinematic isotropy and force balancing." Robotica 22, no. 1 (January 2004): 97–108. http://dx.doi.org/10.1017/s0263574703005216.

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This paper deals with an optimum synthesis of planar parallel manipulators using two constrained optimisation procedures based on the minimization of: (i) the overall deviation of the condition number of manipulator Jacobian matrix from the ideal/isotropic condition number, and (ii) bearing forces throughout the manipulator workspace for force balancing. A revolute jointed planar parallel manipulator is used as an example to demonstrate the methodology. The parameters describing the manipulator geometry are obtained from the first optimisation procedure, and subsequently, the mass distribution parameters of the manipulator are determined from the second optimisation procedure based on force balancing. Optimisation results indicate that the proposed optimisation approach is systematic, versatile and easy to implement for the optimum synthesis of the parallel manipulator and other kinematic chains. This work contributes to previously published work from the point of view of being a systematic approach to the optimum synthesis of parallel manipulators, which is currently lacking in the literature.
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Dash, Anjan Kumar, Sai Krishnamurthy, Shyam Prasadh, and Vishanth Sundar. "Position Control of a 3-RRR Planar Parallel Manipulator with Non-Planar Links Using External Encoders." Advanced Materials Research 971-973 (June 2014): 1280–83. http://dx.doi.org/10.4028/www.scientific.net/amr.971-973.1280.

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A Planar Parallel Manipulator (PPM) with non-planar links overcomes most of the shortcomings in conventional manipulators. Due to cantilever action, the links of a PPM develop bending stress. When the links are non-planar (having inclination with the horizontal plane), this cantilever action reduces and the same manipulator can have higher payload capacity. In this project, a planar 3-RRR manipulator with non-planar links is investigated for rectifying singularity at home configuration, and a novel method of position feedback of the motor is designed, fabricated and tested with rest of the motion control components.
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Ebrahimi, Iman, Juan A. Carretero, and Roger Boudreau. "Kinematic analysis and path planning of a new kinematically redundant planar parallel manipulator." Robotica 26, no. 3 (May 2008): 405–13. http://dx.doi.org/10.1017/s0263574708004256.

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SUMMARYIn this work, the 3-RPRR, a new kinematically redundant planar parallel manipulator with six-degrees-of-freedom, is presented. First, the manipulator is introduced and its inverse displacement problem discussed. Then, all types of singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the dexterous workspace is geometrically obtained and compared with the non-redundant 3-PRR planar parallel manipulator. Finally, based on a geometrical measure of proximity to singular configurations and the condition number of the manipulators' Jacobian matrices, actuation schemes for the manipulators are obtained. Different actuation schemes for a given path are obtained and the quality of their actuation schemes are compared. It is shown that the proposed manipulator is capable of following a path while avoiding the singularities.
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Wang, Jinsong, Jun Wu, Tiemin Li, and Xinjun Liu. "Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy." Robotica 27, no. 1 (January 2009): 51–57. http://dx.doi.org/10.1017/s0263574708004517.

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SUMMARYThis paper deals with the position workspace, orientation workspace, and singularity of a 3-degree-of-freedom (DOF) planar parallel manipulator with actuation redundancy, which is created by introducing a redundant link with active actuator to a 3-DOF nonredundant parallel manipulator. Based on the kinematic analysis, the position workspace and orientation workspace of the redundantly actuated parallel manipulator and its corresponding nonredundant parallel manipulator are analyzed, respectively. In the singularity analysis phase, the relationship between the generalized input velocity and the generalized output velocity is researched on the basis of the theory of singular value decomposition. Then a method to investigate the singularity of parallel manipulators is presented, which is used to determine the singularity of the redundantly actuated parallel manipulator. In contrast to the corresponding nonredundant parallel manipulator, the redundant one has larger orientation workspace and less singular configurations. The redundantly actuated parallel manipulator is incorporated into a 4-DOF hybrid machine tool which also includes a feed worktable to demonstrate its applicability.
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Narayanan, Sathya, and Anjan Kumar Dash. "Workspace Analysis and Optimization of 3-RRR Planar Parallel Manipulator." Applied Mechanics and Materials 813-814 (November 2015): 1047–51. http://dx.doi.org/10.4028/www.scientific.net/amm.813-814.1047.

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Predicting shape and finding out exact area of the workspace of 3-DOF planar parallel manipulator having three rotary joints has been a research topic for long time. Optimal design based on such calculations provides a conclusive design methodology. In this work, geometrical method is used o get the exact shape of the workspace and expression of area for the shape obtained. The 3-DOF parallel manipulator is treated as a combination of three independent serial manipulators and its workspace as the common intersection area of these three serial manipulators. The three workspaces are then translated by length equal to radius of the end effecter and the common intersection area is obtained as the workspace of the parallel manipulator under study. The area is determined using the mathematical expression for the shape obtained. Based on direct search algorithm, a methodology is developed to optimize the area. Thus, following, this methodology, an user with specification of area of the workspace can be provided with an optimized parallel manipulator taking into account the inventory of link lengths and the cost of the links.
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Wang, Bing, and Wei Na Han. "Performance Atlases of Global Conditioning Index of Planar 3-DOF Parallel Manipulator with Actuation Redundancy." Advanced Materials Research 479-481 (February 2012): 2316–20. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.2316.

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This paper takes a new kind of planar 3-DOF parallel manipulator with actuation redundancy as the object of study. We utilize a design space to obtain the relationship between the link lengths of planar 3-DOF paralel manipulator with actuation redundancy and performance criteria based on the global conditioning index. The corresponding performance atlases has been plotted, the atlases are an important base of reference for the mechanism design of this parallel manipulator.
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Dissertations / Theses on the topic "Planar Parallel Manipulator"

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Montgomery, Forrest. "Design and Control of a Planar Cable Suspended Parallel Manipulator." Thesis, University of Louisiana at Lafayette, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10608124.

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Cable Suspended Parallel Manipulators represent an emerging field of study due to the complexities predicting their pose. Despite this issue, suspended cable manipulators possess several advantages over fully-constrained cable manipulators. These include, among others, ease of setup and fewer cables. The reduction in cables relieves excess force computation and likelihood of cable interference.

Two planar Cable Suspended Parallel Manipulator models were created. One has one end-effector connection point, a pendulum type

CSPM

, and the other has two connection points, a suspended plate type

CSPM

. The model's dynamic properties were explored to create system input commands that limited residual vibration. Simulations were run demonstrating the effectiveness of the control methods.

The simulations were verified using experimental data. The pendulum type

CSPM

experiments were performed on a small-scale

CSPM

setup, while the platform type

CSPM

experiments were performed on a full-scale bridge-inspecting robot. The control method created for both experiments proved to reduce the vibration opposed to no control method. The

CSPM

model was also used to create a cooperative input control method, which reduced the risetime of the control command, while still providing vibration reduction.

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Chan, Edmon. "Design and Implementation of a High Speed Cable-Based Planar Parallel Manipulator." Thesis, University of Waterloo, 2005. http://hdl.handle.net/10012/835.

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Robotic automation has been the major driving force in modern industrial developments. High speed pick-and-place operations find their place in many manufacturing applications. The goal of this project is to develop a class of high speed robots that has a planar workspace. The presented robots are intended for pick-and-place applications that have a relatively large workspace. In order to achieve this goal, the robots must be both stiff and light. The design strategies adapted in this study were expanded from the research work by Prof Khajepour and Dr. Behzadipour. The fundamental principles are to utilize a parallel mechanism to enhance robot stiffness and cable construction to reduce moving inertia. A required condition for using cable construction is the ability to hold all cables under tension. This can only be achieved under certain conditions. The design phase of the study includes a static analysis on the robot manipulator that ensures certain mechanical components are always held under tension. This idea is extended to address dynamic situations where the manipulator velocity and acceleration are bounded. Two concept robot configurations, 2D-Deltabot, and 2D-Betabot are presented. Through a series of analyses from the robot inverse kinematic model, the dynamic properties of a robot can be computed in an effective manner. It was determined that the presented robots can achieve 4g acceleration and 4m/s maximum speed within their 700mm by 100mm workspace with a pair of 890W rotary actuators controlling two degrees of freedom. The 2D-Deltabot was chosen for prototype development. A kinematics calibration algorithm was developed to enhance the robot accuracy. Experimental test results had shown that the 2D-Deltabot was capable of running at 81 cycles per minute on a 730mm long pick-and-place path. Further experiments showed that the robot had a position accuracy of 0. 62mm and a position repeatability of 0. 15mm, despite a few manufacturing errors from the prototype fabrication.
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Joshi, Atul Ravindra. "Design and control of a three degree-of-freedom planar parallel robot." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175180058.

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Kounias, Sophia E. S. "Design, manufacture and control of a planar three degree-of-freedom parallel manipulator." Thesis, McGill University, 1993. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=26078.

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This thesis presents the mechanical design of the prototype of a planar three degree-of-freedom parallel manipulator with revolute joints and the design and implementation of a closed-loop control circuit which controls the motors of the constructed manipulator.
Mechanical design here is understood as the decision-making process involved in tasks such as: material selection, structural design and drive selection. In this study the aforementioned tasks for the three degree-of-freedom parallel manipulator are described in detail and their conclusions are used for the construction of the manipulator.
Finally a motor speed/control system for the control of the selected motors, to form a complete microprocessor-controlled DC motor servopositioning system, is designed. The final application circuit which includes additional hardware as well, is implemented connected and tested with the motors of the constructed prototype.
In addition an introduction to parallel processing and an interface proposal are made as a first step towards the next phase of this project.
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Hay, Alexander Morrison. "Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces." Thesis, Pretoria : [s.n.], 2004. http://upetd.up.ac.za/thesis/available/etd-05042005-162107/.

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Helmy, Ahmed. "Parallel processing and the dynamics and kinematics of a three degree of freedom planar manipulator." Thesis, McGill University, 1994. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=69796.

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The application of a parallel processing system (hardware and software) in the solution of the kinematics and dynamics to control a three degree of freedom parallel manipulator is the subject of this thesis.
Parallel processing systems are introduced and analysed for this application. A parallel microcomputer system is used and a new method of direct kinematics for displacement analysis is implemented. The selected microcomputer system is integrated in an IBM 286 compatible personal computer.
Finally, a parallel software program is implemented, which allows for efficient control of three actuators driving the three degree of freedom planar manipulator. Hence, introducing a new processing method for the control of this manipulator.
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Hayes, Matthew John D. "Kinematic analysis of planar parallel manipulators with holonomic higher pairs." Thesis, McGill University, 1996. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=24059.

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This thesis presents a detailed kinematic analysis of a 3-degree-of-freedom planar parallel manipulator with holonomic higher pairs. The manipulator consists of a circular disk which rolls without slip on the non-grounded rigid links of each of three 2R serial legs.
The first portion of the thesis is devoted to the review of the geometric and mathematical tools used in the kinematic analysis. Planar isometries and group theory are used in the developmental of the inverse kinematics (IK) algorithm. Kinematic mapping and Grobner bases are important for the forward kinematics (FK) algorithm.
After six important geometric properties of the manipulator are identified, the IK algorithm is developed. It is based on the decomposability and commutativity of planar displacements. The four step algorithm provides closed form analytic solutions. The algorithm may be used on similar parallel manipulators with any number of 2R legs, and hence, applies to a whole class of manipulators. It will be shown that there can be no more than 4$ sp{n}$ real solutions, where n is the number of 2R legs. Three numerical examples are given.
The FK problem is solved using kinematic mapping. To employ a technique from the literature, pseudo inputs must be used to specify joint parameter inputs. The resulting set of three non-linear equations in three unknowns is solved using Grobner bases theory. A numerical example is given.
Finally, velocity and acceleration analysis are performed after the determination of the Jacobian matrix.
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Santos, João Cavalcanti. "Análise numérica e experimental da influência da redundância cinemática em um manipulador paralelo planar." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-10112017-094950/.

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Manipuladores paralelos apresentam inércia reduzida, o que lhes permite alcançar altas acelerações e melhor eficiência energética. Porém, frequentemente seu espaço de trabalho possui desempenho pouco uniforme. De fato, a presença de singularidades paralelas é um forte limitante para essa arquitetura robótica. A redundância de atuação já é conhecida como uma alternativa para essa questão. Enquanto que a redundância cinemática ainda não possui consequências claras. Um manipulador com esse tipo de redundância apresenta um número de graus de liberdade do end-effector menor que o número de graus de liberdade do mecanismo como um todo. Considerando essa lacuna, o objetivo desse mestrado é analisar a influência da redundância cinemática no desempenho de manipuladores paralelos através de simulações e testes experimentais. Tal estudo não é trivial, uma vez que com o maior número de atuadores e graus de liberdade, é adicionada também inércia ao sistema. Foram definidas métricas para avaliar o quão favorável é uma dada posição e, com elas, estratégias de resolução de redundância foram analisadas. A estratégia principal proposta se compõe por duas etapas. No primeiro passo, é definida uma movimentação na qual a posição a cada instante é ótima segundo uma dada métrica de desempenho multiobjetivo. Isso resulta em um movimento de referência que em geral possui altas acelerações. Na segunda etapa, aplica-se uma otimização global, procurando manter um compromisso de proximidade com o movimento de referência e com os níveis de aceleração. Além deste, foram aplicados diversos métodos de otimização local (onde a cinemática inversa é resolvida para cada instante isoladamente) e uma estratégia global truncada. Essas opções foram comparadas numericamente e experimentalmente, trazendo uma resposta objetiva da influência da redundância cinemática no manipulador paralelo. A campanha experimental foi realizada em uma protótipo construído no Laboratório de Dinâmica da Escola de Engenharia de São Carlos. Esse protótipo consiste em um manipulador paralelo planar com 6 graus de liberdade, tendo assim, até 3 graus de redundância para a movimentação no plano. Têm-se 6 motores rotativos para atuá-los, sendo 3 deles acoplados a guias lineares com fusos para obtenção de atuação linear. O acionamento ou não destas guias define o grau de redundância do sistema, garantindo a versatilidade do protótipo.
As a consequence of their reduced inertia, parallel manipulators present superior energetic efficiency and they are able to reach high accelerations. Nevertheless, their workspace has a poorly uniform performance. Indeed, the presence of parallel singularities is a strong limitant for this kind of robots. On the one hand, actuation redundancy is well-known as a good choice in an effort to solve this issue. On the other hand, kinematic redundancy still have unclear consequences on this matter. A kinematically redundant manipulator presents an end-effector with fewer degrees of freedom than the mechanism as a whole. Considering this gap, the objective of this research is to analyze the influence of kinematic redundancy on the performance of parallel manipulators through simulations and experimental tests. This issue turns out to be complex, once traveling actuators sum additional inertia to the system. Metrics are defined in order to evaluate how favourable is a given position, and redundancy resolution strategies are analyzed using them. The main proposed strategy is composed of two steps. In the first one, a movement is defined so that the position for each instant is optimum for a given multiobjective performance metric. This procedure delivers a refererence movement which generally presents high accelerations. On the second step, a global optimization is applied, seeking for a trade-off between the proximity to the reference and the acceleration levels. In addition, several local methods (which resolve the inverse kinematics for each instant independently) and one truncated global strategy were addressed. These configurations were compared numerically and experimentally, delivering a objective analysis of the influence of kinematic redundancy on the performance of the parallel manipulator. The experimental campaign was executed with a physical prototype built at the São Carlos School of Engineering. This is a planar manipulator with 6 degrees of freedom, consequently presenting up to 3 degrees of redundancy. The mechanism is actuated by 6 rotating motors, of which 3 are coupled to leadscrews, resulting in linear actuators. These leadscrews can be locked, defining different degrees of redundancy and granting the versatility of the prototype.
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Long, Craig Stephen. "Optimal structural design for a planar parallel platform for machining." Diss., Pretoria : [S.n], 2002. http://upetd.up.ac.za/thesis/available/etd-11302005-093541/.

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Shelley, Brett. "Inverse position solutions, workspace, and resolved rate control of all possible 3-DOF parallel planar manipulators." Ohio : Ohio University, 1996. http://www.ohiolink.edu/etd/view.cgi?ohiou1178042286.

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Books on the topic "Planar Parallel Manipulator"

1

Piras, Gabriel. Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links. Ottawa: National Library of Canada, 2003.

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Book chapters on the topic "Planar Parallel Manipulator"

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Luputi, Antonio-Marius-Flavius, Erwin-Christian Lovasz, Marco Ceccarelli, Sticlaru Carmen, and Ana-Maria Stoian. "Kinematic Simulation of a Geared Planar Parallel Manipulator." In Mechanism Design for Robotics, 102–10. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-75271-2_11.

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Mejia, L., H. Simas, and D. Martins. "Force Capability Polytope of a 3RRR Planar Parallel Manipulator." In Advances on Theory and Practice of Robots and Manipulators, 537–45. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_60.

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Hu, Bo, Chunxiao Song, and Bo Li. "Stiffness Analysis of a Planar 3-RPS Parallel Manipulator." In Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing, 13–28. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33581-0_2.

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Colombo, Fernanda Thaís, and Maíra Martins da Silva. "Towards a Servovision Based Control for a Planar Parallel Manipulator." In Multibody Mechatronic Systems, 244–53. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-67567-1_23.

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Venkatesan, Vinoth, Jayant Kumar Mohanta, Subir Kumar Saha, and Mohan Santhakumar. "Dynamic Modelling Approaches for a 3-PPR Planar Parallel Manipulator." In Communications in Computer and Information Science, 41–52. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2845-8_4.

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Snyman, J. A., and A. M. Hay. "Analysis and Optimization of a Planar Tendon-Driven Parallel Manipulator." In On Advances in Robot Kinematics, 303–12. Dordrecht: Springer Netherlands, 2004. http://dx.doi.org/10.1007/978-1-4020-2249-4_33.

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Du, Congcong, Genliang Chen, Zhuang Zhang, Liqing Tang, and Hao Wang. "Design and Experimental Analysis of a Planar Compliant Parallel Manipulator." In Intelligent Robotics and Applications, 637–47. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27541-9_52.

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Zhu, Jiaqi, Bin Li, Haozhi Mu, and Qi Li. "Kinematic Analysis of a Flexible Planar 2-DOF Parallel Manipulator." In Intelligent Robotics and Applications, 696–706. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27541-9_57.

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Mejia, Leonardo, Henrique Simas, and Daniel Martins. "Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator." In Advances in Robot Kinematics, 87–94. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-06698-1_10.

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Shaik, Himam Saheb, and G. Satish Babu. "Kinematic Performance Analysis of 3-DOF 3RRR Planar Parallel Manipulator." In Advances in Intelligent Systems and Computing, 879–94. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-8443-5_75.

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Conference papers on the topic "Planar Parallel Manipulator"

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Mohammadi Daniali, H. R., P. J. Zsombor-Murray, and Jorge Angeles. "On Singularities of Planar Parallel Manipulators." In ASME 1993 Design Technical Conferences. American Society of Mechanical Engineers, 1993. http://dx.doi.org/10.1115/detc1993-0350.

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Abstract The singularities of the Jacobian matrices of two manipulator with three degrees of freedom are analyzed. One is a planar 3-legged manipulator; the other, a planar double-triangular manipulator. A general classification of parallel-manipulator singularities into three groups is described. The classification scheme relies on the properties of the Jacobian matrices of the manipulator. Finally, the three types of singularity are identified for the two manipulators.
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Caro, Ste´phane, Nicolas Binaud, and Philippe Wenger. "Sensitivity Analysis of Planar Parallel Manipulators." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49534.

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This paper deals with the sensitivity analysis of planar parallel manipulators. A methodology is introduced to derive the sensitivity coefficients by means of the study of 3-RPR manipulators. As a matter of fact, the sensitivity coefficients of the pose of its moving platform to variations in the geometric parameters are expressed algebraically, the variations being defined both in Polar and Cartesian coordinates. The dexterity of the manipulator is also studied by means of the conditioning number of its normalized kinematic Jacobian matrix. As an illustrative example, the sensitivity of a symmetrical planar parallel manipulator is analyzed in detail. Finally, the accuracy of the manipulator is compared with its dexterity.
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Chen, Genliang, Hao Wang, Yong Zhao, and Zhongqin Lin. "A Kind of Kinematically Redundant Planar Parallel Manipulator for Optimal Output Accuracy." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86184.

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Theoretically, parallel manipulators perform higher precision than their serial counterparts. However, the output accuracy is sensitive to their configurations and dimensions. This paper presents a kind of parallel manipulator with kinematically redundant structure, which can improve the output accuracy by optimizing the error transmission from the active joints to the end-effector. With the kinematic redundancy, free redundant variables can be defined as second task variables, which provide the possibility to select a proper configuration for least error transmission at any pose (the position and orientation) of the end-effector for a given task. Contrast to non-redundant manipulators, the output errors of the proposed manipulator, caused by the active joints input errors, can be optimized rather than determined. By this goal, new limbs with redundant parallel structures are introduced to non-redundant planar parallel manipulators. Numerical example shows that the new architecture has the potential to enhance the output accuracy for a given pose or prescribed trajectory of the end-effector.
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4

Kong, Xian-Wen. "Forward Displacement Analysis of Three New Classes of Analytic Spherical Parallel Manipulators." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5953.

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Abstract The analytic manipulator is a manipulator the characteristic polynomial of which is of fourth degree or lower. Three new classes of analytic spherical parallel manipulators with prismatic actuators are proposed. The first is the spherical parallel manipulator with non-similar planar platforms, the second is the spherical parallel manipulator with similar planar platforms, and the third is the spherical parallel manipulator with orthogonal platforms. The forward displacement analysis of these new classes of spherical parallel manipulators is investigated in sequence. Polynomials of degree 4, 2 and 2 in one unknown respectively can be obtained to inscribe this problem. Due to dual solutions of other unknowns, a maximum of eight solutions might be possible for each of the new analytic spherical parallel manipulators.
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Litim, Mustapha, Benyamine Allouche, Abdelhafid Omari, Antoine Dequidt, and Laurent Vermeiren. "Sliding Mode Control of Biglide Planar Parallel Manipulator." In 11th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS - Science and and Technology Publications, 2014. http://dx.doi.org/10.5220/0005015403030310.

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Lu Ren, J. K. Mills, and Dong Sun. "Adaptive synchronization control of a planar parallel manipulator." In Proceedings of the 2004 American Control Conference. IEEE, 2004. http://dx.doi.org/10.23919/acc.2004.1383930.

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7

Leblond, Marc, and Clément M. Gosselin. "Static Balancing of Spatial and Planar Parallel Manipulators With Prismatic Actuators." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5963.

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Abstract In this paper, the static balancing of existing spatial and planar parallel manipulators by the addition of balancing elements is addressed. Static balancing is defined here as the set of conditions on manipulator dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any force (or torque) at the actuators for any configuration of the manipulator, under static conditions. These conditions are derived here for spatial six-degree-of-freedom parallel manipulators and it is shown that planar three-degree-of-freedom parallel manipulators can be treated as a particular case of the spatial 6-dof mechanisms. The static balancing conditions associated with planar mechanisms can therefore easily be found, but are not given here because of space limitations. A brief geometric interpretation of the balancing conditions which are associated with statically balanced spatial mechanisms is then carried out. It is shown that balancing is generally possible even when the dimensional parameters are imposed, which is a useful property since dimensional parameters are usually obtained from kinematic design or optimization. Finally, examples of balanced planar and spatial parallel manipulators are given. Static balancing leads to considerable reduction in the actuator forces (or torques), which in turn leads to less powerful actuators and more efficient designs. Moreover, the possibility of balancing existing systems by introducing additional elements, as demonstrated here, is of interest for retrofitting existing parallel mechanisms.
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Purwar, Anurag, Sagar Anantwar, and Ping Zhao. "An Interactive Approach to Designing Planar Parallel Manipulators Using Image Space Representation." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70880.

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Structure equations of mechanisms are well-known to give rise to algebraic constraint manifolds that describe the space of poses available to a certain link (usually, end-effector or coupler) of open chains or mechanisms. In this paper, by using planar quaternion representation for planar displacements, we obtain constraint manifold of such manipulators and show that the task of dimensional synthesis of a planar parallel manipulator (PPM) is reduced to simple geometric manipulation of the manifold in the Image Space. Earlier, this approach has been shown to work for planar 6R closed chain mechanisms as well as for RRR- and RPR-type leg topologies of a PPM. Here, we complete the extension to other five leg topologies and provide a developer version software tool for dimensional synthesis of a PPM.
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Zhang, Yanbin, and Kwun-lon Ting. "Type Synthesis of Uncoupled 2T2R Parallel Manipulators." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70626.

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This paper presents a simple and systematic method for type synthesis of four-degree-of-freedom uncoupled parallel manipulators with two-translational and two-rotational (2T2R) motion components. Based on the concept of hybrid manipulator, one uncoupled 2T2R hybrid manipulator, which is composed of one full-isotropic planar 2T1R parallel manipulator and one revolute joint in serial assembly, is designed first. Then the structure synthesis of the fourth leg of 2T2R parallel manipulator is performed in terms of the reciprocal screw theory. Finally, the type synthesis of uncoupled 2T2R parallel manipulators is realized by combining the uncoupled 2T2R hybrid manipulator and one of the synthesized fourth legs. The Jacobian of the uncoupled 2T2R parallel manipulator is a 4×4 diagonal matrix. Therefore, there exists a one-to-one correspondence between the input velocity space of the actuated joints and the output velocity space of the moving platform. Moreover, both the control design and the path planning of these proposed manipulators are very simple.
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Ghosh, Shramana, and Dongming Gan. "Design of Passive 3-PRR Planar Parallel Manipulators for Self-Alignment of Exoskeleton Axes." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59821.

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Self-alignment mechanisms for exoskeletons alleviate critical issues arising from misalignment between exoskeleton and human joints. In this paper we present a method for kinematic synthesis of a passive mechanism for aligning joint axes of exoskeletons with human anatomical joint axes. Planar parallel manipulators are known for their inherent stiffness and compactness; we propose a novel parallel manipulator design to achieve self-alignment. The base platform of the parallel manipulator is attached to the human arm and the moving platform is attached to the exoskeleton. Three PRR chains connect the base and moving platforms. An optimal design problem is formulated to find the smallest manipulator that spans the specified workspace, which represents the possible area of misalignment.
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