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A 5-SU robot with collinear universal joints is well suited to handle an axisymmetric tool, since it has five controllable degrees of freedom, and the remaining one is a free rotation around the tool. The kinematics of such a robot also having coplanar spherical joints has previously been studied as a rigid subassembly of a Stewart–Gough platform, which has been denoted a line-plane...
In the past decades, parallel manipulators have been found in many industrial applications and a number of interesting mechanical devices and design methods have been extensively studied. However, most efforts are dedicated to six degrees of freedom (DOF) or three-DOF manipulators. This paper presents a novel six-leg, four-DOF parallel platform manipulator with base mounted prismatic actuators. The...
This paper deals with the conceptual design and kinematic analysis of a novel 2-DOF translational parallel robot for pick-and-place operations named as T2. The proposed architecture is composed of two actuated kinematic chains in the vertical plane and a passive chains in the transversal plane to make the orientation of the moving platform unchangeable. It not only has high speed and high acceleration,...
This paper presents a novel method to determine the multi-dimensional workspace boundary of parallel manipulators using a modified Particle Swarm Optimization (MPSO) framework. A generic objective (fitness) function that gives optimum value at points where a manipulator reaches its limit is formulated. By finding these points using MPSO, the workspace boundary of a parallel manipulator can be constructed...
This study concerns dynamic modeling and contouring control of parallel kinematic machines. The Orthopod, a 3 degree-of-freedom parallel manipulator designed for an engraving machine, is introduced as the control plant. Since the tracking error does not reflect truly its product quality, the contouring error is introduced in dynamic control. In this paper, the dynamic equations of the Orthopod are...
In this paper, a planar 3-PPR parallel robot with a non-symmetrical base is proposed. The topology of base platform design is addressed for maximizing the robot's workspace. A robot with U-shape base is designed and analyzed. The new robot reveals some interesting features, such as decoupled degrees of freedom and large reachable and orientational workspace.
In this paper we will study dynamical modeling of a parallel robot Hexa using Lagrangian equation of the first type. Because of complexity and nonlinearity of parallel robotspsila relationships few works are done on their dynamical modeling. Although Newtonian approach is a straightforward method, it may not directly result in a suitable model for most of famous control schemes such as robust, adaptive...
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