TetraFLEX: Design and kinematic analysis of a novel self‐aligning family of 3T1R parallel manipulators
Sign Up to like & getrecommendations! Published in 2022 at "Journal of Field Robotics"
DOI: 10.1002/rob.22067
Abstract: A new family of 3T1R parallel manipulators (PMs) with self‐aligning property, named TetraFLEX, is presented. 3T1R manipulators have many applications in different fields. Moreover, self‐aligning property refers to the presence of passive joints in the… read more here.
Keywords: 3t1r parallel; self aligning; family; family 3t1r ... See more keywords
End-effector positioning due to joint clearances: A comparison among three planar 2-DOF parallel manipulators
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Mechanical Science and Technology"
DOI: 10.1007/s12206-019-0644-z
Abstract: This paper develops a model for studying the effect of joint clearances on the end-effector’s loci for planar parallel manipulators with 2 degree-of-freedom (DOF). The condition for developing end-effector loci equations with respect to the… read more here.
Keywords: joint clearances; clearance; parallel manipulators; effector positioning ... See more keywords
Multioperation capacity of parallel manipulators basing on generic kinematic chain approach
Sign Up to like & getrecommendations! Published in 2017 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2017.05.023
Abstract: Abstract The idea of designing multioperation mechanisms capable of performing different tasks has gained prominence in the last years. These mechanisms, commonly called reconfigurable mechanisms, have the ability to change their configuration. At present, this… read more here.
Keywords: parallel manipulators; multioperation capacity; capacity parallel; multioperation ... See more keywords
Complete, minimal and continuous error models for the kinematic calibration of parallel manipulators based on POE formula
Sign Up to like & getrecommendations! Published in 2018 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2017.11.003
Abstract: Abstract Determination of the identifiable parameters plays an important role in kinematic calibration of robot manipulators. For the conventional serial robots, a consensus has been reached on this problem. However, for the parallel manipulators, there… read more here.
Keywords: parallel manipulators; error models; kinematic calibration; complete minimal ... See more keywords
Dynamic performance analysis of parallel manipulators based on two-inertia-system
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.03.023
Abstract: Abstract Load inertia time-varying is one of the main dynamic characteristics of parallel manipulators in joint space, which would heavily affect the performance of the mechatronic system, especially during the acceleration and deceleration phases. In… read more here.
Keywords: system; dynamic performance; performance; inertia system ... See more keywords
Transmission index of a class of parallel manipulators with 3-RS(SR) primary structures based on pressure angle and equivalent mechanism with 2-SS chains replacing RS chain
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.04.018
Abstract: Abstract In this paper, we present a new transmission index (TI) for kinematic performance evaluation of a class of parallel manipulators with a 3-RS (or 3-SR) structure; termed the primary structure obtained by locking all… read more here.
Keywords: structure; class parallel; transmission; parallel manipulators ... See more keywords
A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.103665
Abstract: Abstract Establishing complete, continuous and minimal error models is fundamentally significant for the calibration of robotic manipulators. Motivated by practical needs for models suited to coarse plus fine calibration strategies, this paper presents a screw… read more here.
Keywords: parallel manipulators; theory based; screw theory; approach ... See more keywords
Decoupled elastostatic stiffness modeling of parallel manipulators based on the rigidity principle
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.103718
Abstract: Abstract Analytical elastostatic stiffness modeling of parallel manipulators (PMs) based on the rigidity principle, screw theory, and strain energy while considering the flexibility of the links, joints, and actuators is proposed. The proposed model can… read more here.
Keywords: parallel manipulators; modeling parallel; stiffness; mechanism ... See more keywords
Natural frequency analysis of parallel manipulators using global independent generalized displacement coordinates
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DOI: 10.1016/j.mechmachtheory.2020.104145
Abstract: Abstract A modeling approach is proposed for analyzing the natural frequencies of parallel manipulators (PMs) using the global independent generalized displacement coordinates (IGDC). To avoid the constraint equations while solving the dynamic equation, all of… read more here.
Keywords: parallel manipulators; global independent; displacement coordinates; displacement ... See more keywords
Enhanced Dynamic Capability of Cable-Driven Parallel Manipulators by Reconfiguration
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DOI: 10.1017/s0263574721000230
Abstract: SUMMARY Cable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators. Though their ability to accelerate is higher than the traditional motion platforms, the capabilities are often not used optimally. The issues of cable slackening… read more here.
Keywords: enhanced dynamic; driven parallel; cable driven; dynamic capability ... See more keywords
Kinematic joint matrix and block diagram for a group of parallel manipulators
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DOI: 10.1017/s0263574722001187
Abstract: Abstract There are various matrices to represent parallel mechanisms. It is essential to design a kind of approach to not only denote the parallel structures but also disclose the joint directions. In this paper, a… read more here.
Keywords: topology; kinematic joint; joint matrix; parallel manipulators ... See more keywords