Closed-form dynamic modeling and performance analysis of an over-constrained 2PUR-PSR parallel manipulator with parasitic motions
Sign Up to like & getrecommendations! Published in 2019 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-019-04803-2
Abstract: This paper presents an systematic dynamic modeling and performance analysis method of an over-constrained 2PUR-PSR parallel manipulator with parasitic motions, where P, U, S, and R represent the prismatic joint, universal joint, spherical joint, and… read more here.
Keywords: manipulator; performance; dynamic modeling; 2pur psr ... See more keywords
Derivation of General Acceleration and Hessian Matrix of Kinematic Limbs in Parallel Manipulator by Extended Skew-Symmetric Matrixes
Sign Up to like & getrecommendations! Published in 2020 at "Archives of Computational Methods in Engineering"
DOI: 10.1007/s11831-020-09490-6
Abstract: A general acceleration model and a Hessian matrix of the kinematic limbs in the parallel manipulators are established using new skew-symmetric matrixes. First, several extended formulas of the skew-symmetric matrixes are derived and proved. Second,… read more here.
Keywords: symmetric matrixes; limbs parallel; skew symmetric; kinematic limbs ... See more keywords
Optimum design of the reconfiguration system for a 6-degree-of-freedom parallel manipulator via motion/force transmission analysis
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Mechanical Science and Technology"
DOI: 10.1007/s12206-020-0232-2
Abstract: This research introduces a 6-degree-of-freedom parallel manipulator with a reconfigurable fixed base; the manipulator performance has been evaluated to select the most suitable reconfiguration system. The optimal design of the parallel manipulator refers to the… read more here.
Keywords: manipulator; force; reconfiguration; reconfiguration system ... See more keywords
Screw theory-based mobility analysis and projection-based kinematic modeling of a 3-CRRR parallel manipulator
Sign Up to like & getrecommendations! Published in 2018 at "Journal of the Brazilian Society of Mechanical Sciences and Engineering"
DOI: 10.1007/s40430-018-1277-3
Abstract: Forward kinematics analysis of parallel manipulators requires solving highly complicated nonlinear equations, which deriving a closed-form solution is often a real challenge. Being used in closed loop position control of mechanisms, the forward kinematics solution… read more here.
Keywords: mobility; kinematics; manipulator; forward kinematics ... See more keywords
Structural error and friction compensation control of a 2(3PUS + S) parallel manipulator
Sign Up to like & getrecommendations! Published in 2018 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2018.02.004
Abstract: Abstract To reduce the adverse effects of structural error and joint friction on a 2(3PUS + S) parallel manipulator, studies on the compensation method are conducted. The static structural errors such as machining error and assembly error… read more here.
Keywords: error; compensation; friction; 3pus parallel ... See more keywords
A novel vectored thruster based on 3-RPS parallel manipulator for autonomous underwater vehicles
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2018.12.015
Abstract: Abstract Autonomous underwater vehicles (AUVs), which serve as main tool platforms, have played an important role in underwater surveys in scientific, military, and commercial applications. However, conventional AUVs are unable to perform missions at zero… read more here.
Keywords: underwater vehicles; manipulator; thrust vectoring; mechanism ... See more keywords
Analysis of a 3-RUU parallel manipulator using algebraic constraints
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.03.011
Abstract: Abstract The aim of this paper is to give a detailed examination of the input and output singularities of a 3- R UU parallel manipulator in the translational operation mode. This task is achieved by… read more here.
Keywords: ruu parallel; analysis ruu; manipulator using; parallel manipulator ... See more keywords
Obstacle-crossing strategy and formation parameters optimization of a multi-tracked-mobile-robot system with a parallel manipulator
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.103919
Abstract: Abstract Multiple robots collaborative transportation is a new trend of robotic research in unmanned logistics area. Existing researches focus on the collaborative transportation on the flat ground, but usually neglect the obstacle-crossing problems in real-world… read more here.
Keywords: tracked mobile; robot; manipulator; obstacle crossing ... See more keywords
Position, velocity, and workspace analysis of a novel 6-DOF parallel manipulator with “piercing” rods
Sign Up to like & getrecommendations! Published in 2021 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2021.104300
Abstract: Abstract The article deals with the research of a novel parallel manipulator with six degrees of freedom and three kinematic chains. Each chain of the manipulator presents a so-called “piercing” rod, which injects into the… read more here.
Keywords: velocity; manipulator; workspace analysis; parallel manipulator ... See more keywords
Kinematics analysis and workspace optimization for a 4-DOF 3T1R parallel manipulator
Sign Up to like & getrecommendations! Published in 2022 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2021.104484
Abstract: Abstract A four degrees-of-freedom (DOF) Parallel Manipulator (PM) with a 4 P Pa-2PaR configuration has been proposed to generate 3-DOF Translational and 1-DOF Rotational (3T1R) motions in our early work. It has the advantages of… read more here.
Keywords: workspace optimization; analysis; workspace; kinematics ... See more keywords
Dynamic performance analysis of the X4 high-speed pick-and-place parallel robot
Sign Up to like & getrecommendations! Published in 2017 at "Robotics and Computer-integrated Manufacturing"
DOI: 10.1016/j.rcim.2016.11.003
Abstract: With the closed-loop structure, parallel manipulators possess some inherent advantages, such as high stiffness, enhanced dynamics, and compact structure. As a result, parallel manipulators gradually gain wide application. In the great variety of parallel manipulators,… read more here.
Keywords: index; dynamic performance; performance; parallel manipulator ... See more keywords