Relevant bibliographies by topics / Two-axis manipulator

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  1. Journal articles
  2. Dissertations / Theses
  3. Conference papers

Academic literature on the topic 'Two-axis manipulator'

Author: Grafiati
Published: 4 June 2021
Last updated: 8 February 2022

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Journal articles on the topic "Two-axis manipulator"

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Pan, Xiao Bin, Yong Tao Li, and Rong Zhou. "Research on Automatic Tape Vulcanizing Tank Hoisting Manipulator Based on PLC." Applied Mechanics and Materials 373-375 (August 2013): 271–74. http://dx.doi.org/10.4028/www.scientific.net/amm.373-375.271.

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In this paper, an automatic tape vulcanizing tank hoisting manipulator is designed to improve the accuracy and the efficiency in tape vulcanization. The hoisting manipulators control system takes Siemens S7-200 PLC as the core. By controlling two frequency converters and a solenoid valve, the hoisting manipulator not only movs along the Y-axis and Z-axis also clamps the vulcanizing mold. In addition, the hoisting manipulator communicates with the vulcanizing tank through PC / PPI bus and the RS232/485 interface port on PLC, achieving linkage production.
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Chalhoub, Nabil G., and Xiaoying Zhang. "Reduction of the End Effector Sensitivity to the Structural Deflections of a Single Flexible Link: Theoretical and Experimental Results." Journal of Dynamic Systems, Measurement, and Control 115, no. 4 (December 1, 1993): 658–66. http://dx.doi.org/10.1115/1.2899193.

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The fine positioning problem of the gripper of flexible robotic manipulators is addressed in this study. A two-axis cartesian micro-manipulator is implemented to reduce the sensitivity of the gripper to the structural deformations of a single flexible link. A laser head with a dual axis photodetector are used to provide direct measurements of the transverse deflections at the free-end of the beam and to detect mechanical inaccuracies caused by manufacturing imperfections and assembly misalignment. The advantages of the integrated system of the micro-manipulator with a single compliant beam are demonstrated and compared to the one without the micro-manipulator for two different control schemes, “rigid body controller (RBC)” and “rigid and flexible motion controller (RFMC).” Both theoretical and experimental results have proven the capability of the micro-manipulator in significantly improving the gripper positional accuracy. Furthermore, it was demonstrated that the micro-manipulator tends to complement rather than overlap the efforts exerted by the host beam controller.
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Chen, Wen Jia, Yan Zhong He, and Jiang Zhang. "A Four Degrees of Freedom Parallel Manipulator for Machining." Advanced Materials Research 139-141 (October 2010): 2168–71. http://dx.doi.org/10.4028/www.scientific.net/amr.139-141.2168.

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In the past decades, a number of parallel manipulators have been extensively studied. However, most efforts are dedicated to six degrees of freedom (DOF) or three-DOF manipulators. There is a need for equipment providing more than three DOF's arranged in parallel and based on simpler arrangements than six-DOF arrangements in application. This paper presents a novel four-DOF parallel platform manipulator with base mounted prismatic actuators. The manipulator is driven by four linear actuators. The movable platform of the manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse and forward kinematics transformation. It is very easy to develop a five-axis NC machine-tool which is of large-workspace based on the four-DOF parallel mechanism presented in this paper.
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Hao, Guangbo, and Xianwen Kong. "A structure design method for compliant parallel manipulators with actuation isolation." Mechanical Sciences 7, no. 2 (November 30, 2016): 247–53. http://dx.doi.org/10.5194/ms-7-247-2016.

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Abstract. Since precise linear actuators of a compliant parallel manipulator suffer from their inability to tolerate the transverse motion/load in the multi-axis motion, actuation isolation should be considered in the compliant manipulator design to eliminate the transverse motion at the point of actuation. This paper presents an effective design method for constructing compliant parallel manipulators with actuation isolation, by adding the same number of actuation legs as the number of the DOF (degree of freedom) of the original mechanism. The method is demonstrated by two design case studies, one of which is quantitatively studied by analytical modelling. The modelling results confirm possible inherent issues of the proposed structure design method such as increased primary stiffness, introduced extra parasitic motions and cross-axis coupling motions.
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de Almeida, F. Gomes, and K. A. Edge. "Decentralized Adaptive Control of a Directly Driven Hydraulic Manipulator: Part 2: Experiment." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 209, no. 3 (August 1995): 197–205. http://dx.doi.org/10.1243/pime_proc_1995_209_384_02.

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The implementation of a decentralized model reference adaptive control scheme for a two-axis robotic manipulator is described. It is shown, through an extensive series of experiments, that very good model-following performance and axis decoupling is achieved regardless of manipulator payload and working position.
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Kim, Dong Hong, Dong Won Jung, and Choon Man Lee. "Study on Angle Calculation of Two-axis Manipulator for Laser Assisted Machining." Journal of the Korean Society for Precision Engineering 31, no. 2 (February 1, 2014): 113–17. http://dx.doi.org/10.7736/kspe.2014.31.2.113.

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Amine, Semaan, Mehdi Tale Masouleh, Stéphane Caro, Philippe Wenger, and Clément Gosselin. "SINGULARITY ANALYSIS OF THE 4 RUU PARALLEL MANIPULATOR USING GRASSMANN-CAYLEY ALGEBRA." Transactions of the Canadian Society for Mechanical Engineering 35, no. 4 (December 2011): 515–28. http://dx.doi.org/10.1139/tcsme-2011-0031.

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This paper deals with the singularity analysis of four degrees of freedom parallel manipulators with identical limb structures performing Schönflies motions, namely, three independent translations and one rotation about an axis of fixed direction. The 6 × 6 Jacobian matrix of such manipulators contains two lines at infinity among its six Plücker vectors. Some points at infinity are thus introduced to formulate the superbracket of Grassmann-Cayley algebra, which corresponds to the determinant of the Jacobian matrix. By exploring this superbracket, all the singularity conditions of such manipulators can be enumerated. The study is illustrated through the singularity analysis of the 4-RUU parallel manipulator.
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Kohli, D., Soo-Hun Lee, Kao-Yueh Tsai, and G. N. Sandor. "Manipulator Configurations Based on Rotary-Linear (R-L) Actuators and Their Direct and Inverse Kinematics." Journal of Mechanisms, Transmissions, and Automation in Design 110, no. 4 (December 1, 1988): 397–404. http://dx.doi.org/10.1115/1.3258936.

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In this paper, a new type of two-degree-of-freedom actuator called the rotary-linear (R-L) actuator is described. The R-L actuator permits a rotation and a translation along the axis of rotation, thus simulating a cylinder pair. The R-L actuators are then used in type synthesis of mechanical manipulator chains. Closed-loop three-, four, five, and six-degree-of-freedom chains containing four to nine links, R-L actuators, revolute pairs (R), prismatic pairs (P), cylindrical pairs (C), and spheric pairs (S) are then obtained. A class of manipulator configurations where the hand is connected to the ground via six-degree-of-freedom dyads or triads and containing three grounded R-L actuators is treated for inverse kinematics. Since all the actuators are on the ground in this configuration, higher payload capacities and smaller actuator sizes can be expected from these configurations. In addition, generally, the computations required for inverse kinematics are also significantly less than those required for serial link open-loop manipulators. The direct kinematics, however, is much more involved and computationally intensive for these manipulators than for serial-link manipulators. The direct kinematics of an example manipulator is derived and requires solution of a 16th-order polynomial equation. Numerical examples are presented for illustration.
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Hurski, N. N., Yu A. Skudnyakov, V. S. Artsiushchyk, and A. N. Bezruchko. "Control of Mechatronic System Based on Multilink Robot-Manipulators." Science & Technique 18, no. 4 (August 13, 2019): 350–54. http://dx.doi.org/10.21122/2227-1031-2019-18-4-350-354.

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The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production.
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Meckl, P., and W. Seering. "Active Damping in a Three-Axis Robotic Manipulator." Journal of Vibration and Acoustics 107, no. 1 (January 1, 1985): 38–46. http://dx.doi.org/10.1115/1.3274714.

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This paper explores several methods to eliminate residual vibration of a robot arm at the end of a move, using open-loop control. The robot structure is modeled as lumped masses and springs with negligible damping, representative of a three-axis Cartesian manipulator. Vibration control is achieved using two different types of forcing functions: (1) a “bang-bang” control function for time-optimal response, and (2) a function constructed to avoid exciting resonance throughout the move. These functions are then compared in their ability to attenuate residual vibration in practice and the response time using (2) is compared with the optimal time using (1).
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Dissertations / Theses on the topic "Two-axis manipulator"

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Gobbalipur, Ranganath Jayanth. "Multi-axis probing system for nano-metrology." The Ohio State University, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=osu1229908979.

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Soják, Vojtěch. "Konstrukce dvouosého manipulátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231978.

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This master thesis deals with the design of a two-axis manipulator according to entered parameters. In the first chapter provides description of kinematics structures of industrial robots and manipulators and their workspaces. Next parts focus on search in the used components, producers of manipulators and of current design manipulators at JCEE s.r.o. Lanškroun. The practical part deals with the design and construction of custom manipulator and its price calculation.
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Havelka, Michal. "Automatický aplikační systém ochranných rohů paletizovaného materiálu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-442814.

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The diploma thesis is about the design of an automatic application system of edge protection corners to palletized material. As the first the diploma thesis briefly discusses actual principles and solutions in area of palletization. After that, there are 4 potential solutions described and measured by multicriteria evaluation method where the most suitable solution is being chosen. Then the actual act of designing of the chosen solution is described and also there are solved necessary calculations. In the end there is risk analysis of new workplace and the drawing documentation of selected nodes is attached. The diploma thesis’ assignment has been made in cooperation with company PHATEC s.r.o. in Litomyšl.
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Chen, Bo-Chiuan, and 陳柏全. "Control of Parallel Manipulator in the Two-axis Sun-tracking Mechanism." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/72132293096400781735.

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碩士
國立交通大學
機械工程系所
102
Currently, most of dual axis tracking systems is based on tandem elevation-azimuth serial mechanism. But this type of mechanism will appear singular point and will appear dramatic position changes in the short time at noon. This study intends to build four hundred watt high concentrated photovoltaic parallel architecture tracking system. Compare to series type mechanism, parallel mechanism has high load capacity, high rigidity and low accumulative errors. In addition, the sun position trajectory is much smoother without appearing singular point and more stable than traditional tracking system. In parallel type tracking system, the design of the control loop use hybrid control, which is calculated by algorithm to confirm the sun location first then start to tracking the sun trajectory. Then the tracking error is feedback by translating the signal which the sun sensor received. Finally, the closed loop compensation is according to tracking operating point and the sun sensor errors. In August tracking experiments, the error angle theta1 and theta2 can be maintained at 0.2 degrees, and solar modules generate about 250 watts.
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謝侑龍. "Design and Simulation of Parallel Manipulator in the Two-axis Sun-tracking Mechanism." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/43399666834772881912.

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碩士
國立交通大學
機械工程學系
100
The program used the structure with high rigidity of the parallel manipulator to design the sun-tracking mechanism which could resist the strong wind. The mechanism used two independent servo motors to drive flat lead screw. Lead screws move the sliders which connect up platform with support leads to result two degrees of freedom rotation displacement. The side that the support rod links of the up platform uses the offset design to avoid the mechanism meets the singular points when the mechanism moves with large angle displacement. Discuss the joints of the mechanism and fall into two main groups. The mechanism could up to 180 degrees of rotation on the east-west direction and about 90 degrees on the north-south direction. The length of the rail is about 1.7m and another is about 0.8m. The height of the mechanism is about 1.9m. The total area of mechanism is about 1.4m2. The mechanism could let the up platform allow the location of sun and the CPV could produce the maximum power conversion efficiency.
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HUI, LAI HSUEH, and 賴學輝. "The study of Medical manipulator with opto-electronic industry the optimized XX-Y TABLE two-axis positioning accuracy." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/05984776744157894505.

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碩士
國立勤益科技大學
工業工程與管理系
102
Current robotic arms have been widely applied in industry, such as handling, automatic Assembly, Assembly and high repeatability, accuracy of work or work not for human responsibility of risk. As the industry's rapid progress, equipment suppliers in terms of quality, efficiency and finished products has three requirements of both times, current automation needs of fast, high accuracy direction. Therefore mechanical arm on the operations control, must be able to accurately control arm repeat positioning accuracy, the research arm of precise positioning control system technology, has become extremely important. However multi-axis arm movements of a motion path with nonlinear coupling dynamic characteristics, is not easy to achieve precise positioning requirements, so the adjustment of controller parameters on precision positioning are very important factors. Due to the shortening of product life cycles and process needs of fast-moving, plant efficiency and stability competition with positioning accuracy has become the industry's top priority. Therefore, at the request of efficiency stability and positioning accuracy of the device context, research advance to ensure that the expected accuracy of the device, and address the needs of positioning accuracy due to optimization of parameters and data-based, real necessity and importance. Now, machinery arm of application has across the industry, pursuant to international robot Association (IFR) of statistics, has ROBOT except industrial with yiwai, up application Yu rescue, and preservation and wildland (field, and Ranch,), in recent years, Europe, and beauty, and day, advanced national to upgrade overall robot of related technology level, continued established related unions and promotion robot industry, and special for industrial with yiwai of other industry for using, such as: medical industry, and services, and daily aspects... , And so on. Health care industry, for example, most major medical centers use ROBOT in manual way, combined with micro-image display system that combines surgical robots. ROBOT research has gradually streamlined manpower, replacing potentially hazardous work environments, even for high-precision work or auxiliary operations. In this paper, research medical manipulator with opto-electronic industry optimized XX-Y TABLE two-axis positioning accuracy, construction of research method using QFD to identify mechanical arm repeat positioning accuracy of impact factors, combined with the impact factor of Taguchi method to find optimal level combinations of the parameters and experimental data import standardized maintenance, Experimental results that Cpk level from 0.28 to 1.65, stated positioning accuracy of the relative increase, evaluated the results of this study, but the best combination of ball and can be covered by the existing theoretical and technical aspects of the development of a medical device in a fast, convenient, in line with expectations.
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Cheng, Yung-Hsien, and 鄭詠賢. "PID-FUZZY Hybrid Control of Two-Axis Robot Manipulators." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/04511793375452484155.

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碩士
中國文化大學
機械工程學系數位機電碩士班
102
This thesis is the application PID Controller and FUZZY controllers, design a PID-FUZZY hybrid controller, for robot manipulators trajectory tracking to be able to trace planned path. Industrial robot manipulators belong to the traditional system to PID control, however PID does not guarantee reliability in a large range of errors. On the other hand, FUZZY has better reliability than PID in a big range of errors. But the problem is worse accuracy than PID. Therefore, the hybrid controller has been designed and combined two controllers, which aims to improve the shortcomings of the traditional controller. In the experiment, robot manipulators position’s error and velocity error are the fuzzy controller input variables, and then sent to the motor adapter to the computer as the controller output variable. In the PID controller, we design PD controller. In FUZZY controller we compose many fuzzy rules. In hybrid controller we use FUZZY controller when the error is larger than 20 degrees and use controller when the error is smaller than 20 degrees. Experiments show that the hybrid controller has two major advantages(1) stability (2) accuracy better than FUZZY controller and PID controller . Obviously, this design has a considerable excellence and potential applicability.
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Tsai, Chen-Hsun, and 蔡承訓. "Visual Servo Control for Manipulation of a Two-axis Robotic Wrist." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/942zqd.

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碩士
國立中山大學
機械與機電工程學系研究所
95
This thesis presents a skillful robotic wrist system using a visual servo control technique to demonstrate dexterity of the mechanical wrist from the viewpoint of the table tennis. A ball and plate system is chosen as the first stage of this long-term project. A two degrees-of-freedom robotic wrist with an acrylic plate attached as the end effector is developed. A visual feedback control system is implemented with a web cam and a personal computer to acquire the ball''s position. In order to implement decision making for changing orientation of the plate, a Linear Quadratic Regulator (LQR) is designed. As a result, the ball can be balanced at specific positions. Experimental results exhibit preliminary and promising achievement. Based on this progress, further improvement and deeper exploration can be carried on in the future.
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Conference papers on the topic "Two-axis manipulator"

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Kuehner, J., and C. P. Diduch. "Friction characterization and controller design for a two axis manipulator." In Proceedings of the 1998 American Control Conference (ACC). IEEE, 1998. http://dx.doi.org/10.1109/acc.1998.694711.

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Rodriguez-Leal, Ernesto, Jian S. Dai, and Gordon R. Pennock. "A Study of the Mobility of a Family of 3-DOF Parallel Manipulators via Screw Theory." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87577.

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This paper investigates the mobility of a family of 3-DOF parallel manipulators using screw theory. Based on the 3-PSP, 3-PPS and 3-PCU manipulators and a new 3-CUP parallel manipulator, the paper obtains the branch motion-screws for these architectures and determines the sets of platform constraint-screws. The constraints are identified to be the forces acting on the S and U joints fixed in the platform and the couples acting about an axis perpendicular to the base. The mobility of a manipulator platform is thus obtained by determining the reciprocal screws to the platform constraint screw sets and the platforms are identified to have three instantaneous independent degrees of freedom which are: (i) a translation along an axis perpendicular to the base; and (ii) two rotations about two skew axes.
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Anwar, G., R. Horowitz, and M. Tomizuka. "Implementation of a MRAC for a Two Axis Direct Drive Robot Manipulator using a Digital Signal Processor." In 1988 American Control Conference. IEEE, 1988. http://dx.doi.org/10.23919/acc.1988.4789800.

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Herrero, Saioa, Charles Pinto, Oscar Altuzarra, and Constantino Roldan-Paraponiaris. "Analysis and Design of the 2PRU-1PRS Manipulator for Vibration Testing." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-36864.

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Parallel manipulators, compared to serial manipulators, have some interesting properties, such as high stiffness, low inertia, high velocity, good accuracy and large payload capacity. Thus, parallel manipulators, especially the ones with one translation and two rotations as outputs (1T2R), are being increasingly studied. The 3PRS mechanism is a very typical example of this category, but it has accuracy problems caused by the parasitic motion, and low orientation capability. To overcome these problems, new mechanisms are being studied, such as the 2PRU-1PRS manipulator. As the 3PRS manipulator, the degrees of freedom of the 2PRU-1PRS are one translation along the Z-axis and two rotations about the X- and Y-axes. The advantages are that the parasitic motion appears only in one direction instead of in three and that the orientation capability is higher. In this paper we present the design of a 2PRU-1PRS mechanism suitable for vibration tests. In order to do this, we develop a code with an intuitive GUI (graphical user interface) that, for given variable limits, solves the inverse kinematic and dynamic problem for all the variable combinations and obtains the combination that consumes less power for an harmonic trajectory. Taking the simulations results into account, we propose a design that fulfils all the requirements for vibration tests in the three axes.
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Caro, S., D. Chablat, P. Lemoine, and P. Wenger. "Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46292.

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The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manipulator mounted in series with a two degrees of freedom parallel spherical wrist. The simpler the kinematic modeling of the Orthoglide 5-axis, the higher the maximum frequency of its control loop. Indeed, the control loop of a parallel kinematic machine should be computed with a high frequency, i.e., higher than 1.5 MHz, in order the manipulator to be able to reach high speed motions with a good accuracy. Accordingly, the direct and inverse kinematic models of the Orthoglide 5-axis, its inverse kinematic Jacobian matrix and the first derivative of the latter with respect to time are expressed in this paper. It appears that the kinematic model of the manipulator under study can be written in a quadratic form due to the hybrid architecture of the Orthoglide 5-axis. As illustrative examples, the profiles of the actuated joint angles (lengths), velocities and accelerations that are used in the control loop of the robot are traced for two test trajectories.
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Amine, Semaan, Mehdi Tale Masouleh, Ste´phane Caro, Philippe Wenger, and Cle´ment Gosselin. "Singularity Analysis of the 4-RUU Parallel Manipulator Based on Grassmann-Cayley Algebra and Grassmann Geometry." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48226.

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This paper deals with the singularity analysis of parallel manipulators with identical limb structures performing Scho¨nflies motions, namely, three independent translations and one rotation about an axis of fixed direction. The study is developed through the singularity analysis of the 4-RUU parallel manipulator. The 6 × 6 Jacobian matrix of such manipulators contains two lines at infinity, namely, two constraint moments, among its six Plu¨cker lines. The Grassmann-Cayley Algebra is used to obtain geometric singularity conditions. However, due to the presence of lines at infinity, the rank deficiency of the Jacobian matrix for the singularity conditions is not easy to grasp. Therefore, a wrench graph representation for some singularity conditions emphasizes the linear dependence of the Plu¨cker lines of the Jacobian matrix and highlights the correspondence between Grassmann-Cayley algebra and Grassmann geometry.
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Campana, Claudio, and Akin Tatoglu. "Low Cost Robotic Arm Manipulator Controller With Single Stage Fluid Valves." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-88435.

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Piston pumps use a mechanism to create a reciprocating motion along an axis which then builds pressure in the barrel to force fluid through the pump. In general, pressure in the chamber is controlled by a heavy linear actuator to manipulate the valves at both suction and discharge points. While hydraulic actuators are strong enough to handle heavy payloads, they are not much suitable to drive arm manipulators mounted on mobile robots due to their heavy weight. To simplify the control logic more suitable for mobile robotics applications and to reduce the overall weight, we have used a smaller pump and utilized two simple trigger valves to control the stroke displacement of the extender. Since valves can only be in on and off states, a pulse width modulation (PWM) with duty cycle control is adopted. End manipulator position and velocity actuation are driven by a PI controller and maximum displacement accuracy, minimal rise time with minimum overshoot cases are studied. Experimental setup of the fluid valve control logic is explained. Both open and closed loop cases are discussed. It is shown that duty cycle control of valves can reach to a reasonable accuracy compared to the traditional linear control system with a lower weight and a simpler control logic.
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Vikas, Vishesh, and Carl D. Crane. "Inclination Parameter Estimation for Manipulator and Humanoid Robot Links." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48221.

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A novel approach of dynamic, non-contact measurement of inclination parameters for robotics applications using the Vestibular Dynamic Inclinometer (VDI) is proposed in the paper. The gravity-invariant Vestibular Dynamic Inclinometer (VDI) is a sensor that consists of symmetrically placed two dual-axis linear accelerometers and one single-axis gyroscope. The deployment of the non-contact sensor is strategic and need not be exactly at the joints. The sensor is also able to estimate the inclination parameters of the base link and the acceleration of the surface of contact. The inclination parameters — base angle, joint angles, angular velocity and angular acceleration, are independent of integration errors/drift.
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Naguleswaran, S. "Vibration of a Flexible Manipulator Carrying Offset Payloads." In ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2003. http://dx.doi.org/10.1115/detc2003/vib-48503.

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Resonance is an important consideration in the design and performance of manipulators. A simple model of a manipulator consists of a beam carrying heavy bodies. Publications are available on the vibration of beams carrying thin disk at each end and up to two disks in-span. The problem has not been tackled taking the axial width of the disks into account. In this paper the vibration of an Euler-Bernoulli stepped beam carrying an axially wide rigid body at each end and one at the step is investigated. The centre of mass of the body is assumed to be on the beam axis but within or outside its width. The frequency equations are expressed as 4th order determinants equated to zero for 64 combinations of the ‘general’, degenerate and classical boundary conditions at the ends. Tables of the first three frequency parameters are presented for example sets of 15 system parameters. Some of the models considered in this paper are valid models of manipulators, space structures and the like. Designers often use numerical methods like finite element formulation to obtain natural frequencies. The tables presented in this paper may be used to judge the frequencies obtained by numerical methods.
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Wannasuphoprasit, Witaya, and Sirisak Sirikasemsuk. "The Design and Development of 3DP Cobotic Manipulator." In ASME 2002 International Mechanical Engineering Congress and Exposition. ASMEDC, 2002. http://dx.doi.org/10.1115/imece2002-33839.

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Abstract:
This paper describes development of a 3-Dimensional Workspace Passive Cobotic Manipulator. The cobot has 3 dimensional workspace (x,y,z). Inspired by previous works of Scooter1 and Extreme Joystick2 cobots, the 3DP Cobotic Manipulator consists of a spherical ball and three steering Cobotic joints and mechanical links. The sphere-rotating axis is constraint to rotate about its own center. The ball has 3 C-space, roll, pitch, and yaw (φ, α, β˜) There is a two-link manipulator attached on top of the ball. The function of this links is to transform a spherical C-space, (φ, α, β) to the end-effector’s C-space (x-y-z).
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