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This paper presents a dynamic workspace control method of underwater manipulator mounted on a floating ROV (Remotely Operated vehicle) in undersea. This method is developed for precise linear motion control of a manipulator's end-effector considering the motion of a floating ROV caused by sea wave. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation...
Kinematics design of a lower-DOF parallel robot parallel, a 3-UUR pure rotational parallel manipulator, is presented. We first analyzed the instantaneous motions of 3-RUU parallel robot at initial configuration by reciprocal screw, after the inverse kinematics and forward kinematics are analyzed. At the basis on the kinematics, the workspace of parallel robot is presented in the paper. The main influences...
The 6-RSS parallel robot is a parallel manipulator whose mobile platform has 6 DOF. In order to construct a complete dynamic model of 6-RSS parallel manipulator, a serial of coordinates on components were defined with D-H method and a kinematics analysis on a single chain was carried out. As a result, closed-form equations for the inverse kinematics and velocity and acceleration transformations from...
This correspondence paper presents an algorithm in which the independent components of link lengths are used as a medium to analyze the forward kinematics of a six-degree-of-freedom Stewart platform. The link lengths are firstly transformed into independent components through independent component analysis. Then, the value of positional variables is computed by using the Nelder-Mead algorithm by taking...
In this paper, the inverse kinematics and dynamics of the 3-RRRT parallel manipulator with three translational degrees of freedom are investigated. First, the equations of kinematics have been formulated by using close-vector approach. Then, the angular velocities and accelerations of the manipulator are developed. Furthermore, the inverse dynamics for the manipulator is performed by using Lagrange...
A kind of redundant actuation parallel mechanism with eight sub-chains is proposed and analyzed in this article. Output kinematic characteristics of the moving platform are analyzed by degree-of-freedom method and redundant degree-of-freedom number is analyzed. The moving platform of this redundant parallel mechanism can fulfill a six degree-of-freedom motion while the number of needed input variables...
Some properties of first-order equations of motion, described originally by Jain and Rodriguez, with a viscous damping model are presented in this paper. The equations arise from a manipulator mass decomposition and are applicable for serial manipulators. In contrast with classical viscous damping model the modified viscous damping model takes into account both kinematic and mechanical parameters...
This paper presents the proposition and development of a robot manipulator for demining. The manipulator concept is based on the demining method called “mine raking”. The main objective is to safely excavate anti personal mines without being exploded while retaining sufficient force for excavation. The desired excavation force and the actual external force are compared and the error is converted in...
Based on flexure hinges, a novel two-degree-of-freedom (2-DOF) compliant parallel micromanipulator driven by piezoelectric actuator (PZT) is presented in this paper. According to the designed mechanism structure, a pseudo rigid body (PRB) model is set up, and then the kinematics and statics are studied in a polar coordinate system. The workspace analysis is given subsequently according to the motion...
Internal models are assumed to be a prerequisite for getting cognitive. In this article, I introduce a neural network approach for a model representing the kinematics of a complex manipulator which at the same time can be used for solving inverse and forward kinematic function. The Mean of Multiple Computation principle applied to a dual quaternion representation of transformations describing the...
A logging harvester for clear-cutting in plantation is introduced in this paper. A chassis of ZL-50 wheeled loader is adopted as its walking mechanism. A multi-functional articulated manipulator is mounted on the front of the chassis, which can do the felling, the limbing, the measuring and the bucking. Meanwhile the kinematics analysis of the manipulator is produced, a coordinate system and a kinematics...
This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control: reaction force generated by the viscoelasticity...
In this paper, a design and optimization approach for a 2-dof manipulator based on parallelogram mechanism for high dynamic application is proposed. After the kinematic and dynamic analysis, several advantages of the mechanism are illustrated which make it possible to reach good dynamic performance through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective...
This paper presents a portable 3D graphical simulator for a Fanuc M-6iB/2HS articulated robot. The mechanical structure is modeled using OpenGL functions implemented in Qt Framework. The robot motions are simulated based on the direct and inverse kinematics equations also presented in this paper. The simulator features include quick motion, step-by-step simulation, 3D scene control functions, objects...
The dynamics of 3-DOF spatial parallel manipulators with flexible links were performed. Firstly, a model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, using the kinematic and dynamic constraint equations of the parallel manipulator, the overall system dynamic equations of the parallel manipulator...
One well acknowledged drawback of traditional parallel kinematic machines (PKMs) is that the ratio of accessible workspace to robot footprint is small for these structures. This is most likely a contributing reason why relatively few PKMs are used in industry today. The SCARA-Tau structure is a parallel robot concept designed with the explicit goal of overcoming this limitation and developing a PKM...
The paper addresses the analysis of forward kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink. Forward kinematics is solved numerically using Newton-Kantorovich (N-K) method and then is verified with a 1:1 CAD model through SimMechanics Toolbox from MATLAB/Simulink. Also the workspace of the robot is determined through forward...
The paper addresses the analysis of three methods for inverse kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink and dSpace platform. The three methods were implemented in MATLAB/Simulink and than exported to dSpace realtime development platform. A comparation between the times of these three methods has been studyed. The scope...
Detailed analysis is given to kinematics of a humanoid robot manipulator. Forward and inverse kinematics of the robot manipulator is performed through Denevit and Hartenberg method. Geometry transformation and square transformation methods are put forward in order to separate joint variables from kinematic equations and kinematics equations are obtained, whereupon mathematic formulas are provided...
The forward kinematic of the 3-RPR parallel manipulator is solved using a hybrid meta-heuristic technique where the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results from the hybrid meta-heuristic approach is compared with the standard simulated annealing and genetic algorithm. The results show that the simulated annealing algorithm outperforms genetic...
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