Artykuły w czasopismach na temat „Manipulators (Mechanism)”
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1
Liu, H., J. S. Dai, H. Y. Xu i H. Li. "Virtual-mechanism-based analysis of cooperative manipulation". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 219, nr 3 (1.03.2005): 315–23. http://dx.doi.org/10.1243/095440604x16830.
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This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanism-based analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint during cooperative manipulation. The analysis not only generates positions and orientations of the end effectors of cooperative manipulators but also produces corresponding link configurations that can be used for manipulation planning. The approach is further used for the orientation-based trajectory planning with two different cases. Simulations and discussions are made with respect to cooperative manipulations using two 2R manipulators and one 2R manipulators and one 3R manipulator.
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Geonea, Ionut, Alexandru Margine i Alin Ungureanu. "Study upon the Dynamic Answer of Plane Manipulators". Advanced Materials Research 463-464 (luty 2012): 1304–8. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1304.
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The paper illustrates the structure of plane mechanical systems used to manipulators. In the first part are presented some kinematics schemes used to plane manipulators. These mechanisms are used to manipulators, positioning and control systems. In generally these mechanisms have two or three degree of mobility. The purpose of the paper is to study the dynamics of a plane manipulator mechanical system used to manipulate garbage containers. It is presented the kinematics scheme of a plane manipulator, used to this purpose and is presented the mechanism functional description. In the second part is presented the kinematical and dynamical analysis for the plane manipulator mechanism. In the last part of the paper are presented graphical results for the dynamics parameters.
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Lu, Yi, Cong Cong, Chen Liwei i Peng Wang. "Solving elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, nr 12 (19.02.2013): 2810–24. http://dx.doi.org/10.1177/0954406213478374.
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It has been a significant and challenging issue to determine the elastic deformation of parallel manipulators for their precision analysis and control. A new method is proposed and studied for solving the elastic deformation of some parallel manipulators with linear active legs using computer-aided design variation geometry. First, an original simulation mechanism of a parallel manipulator is constructed; each of the vectors in the force transformation matrix of the parallel manipulators is constructed by this simulation mechanism. The active/constrained wrench and their pose are determined based on the Newton–Euler formulation. Second, the elastic deformed dimensions of the active legs are determined based on the elastic deformation equation and the active/constrained wrench. Third, a new simulation mechanism of this parallel manipulator is constructed by replacing the original dimensions of active legs with the deformed dimensions of active legs and the elastic deformations of parallel manipulators are solved using the pose difference between the original and new simulation mechanisms. Finally, two parallel manipulators are illustrated and their elastic deformations are solved and verified by both analytic approach and finite element method.
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Dai, J. S., i P. Shah. "Orientation capability of planar serial manipulators using rotatability analysis based on workspace decomposition". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 216, nr 3 (1.03.2002): 275–88. http://dx.doi.org/10.1243/0954406021524990.
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This paper presents a new approach for analysing and synthesizing the orientation capability of planar serial manipulators. By relating the end-effector to the base joint of a manipulator using a virtual adjustable link, the paper converts the open-chain kinematic problem into that of an equivalent close-chain mechanism, and characterizes the relationship between the orientation capability of a serial manipulator and the rotatability of the equivalent mechanism. The orientation capability of a manipulator can hence be placed in the realm of mechanism rotatability. The approach is taken further by decomposing the reachable workspace of a manipulator into ranges, based on the extreme and singular positions of a manipulator. In each of the workspace ranges, the rotatability of the equivalent mechanism is examined and results are categorized to indicate the orientation capability of the manipulator. The approach produces a direct correlation between the orientation capability and manipulator parameters and generates a way of examining the orientation capabilities of serial manipulators. The approach is extended to n-link serial manipulators.
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Lu, Yi, i Bo Hu. "A Unified Approach to Solving Driving Forces in Spatial Parallel Manipulators With Less Than Six DOFs". Journal of Mechanical Design 129, nr 11 (3.11.2006): 1153–60. http://dx.doi.org/10.1115/1.2771237.
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A unified approach to solving driving forces in spatial parallel manipulators with less than six DOFs is proposed. First, the geometric constrained equations of the parallel manipulators are derived, and some independent pose parameters and a common transformation matrix with three translations and three Euler rotations are determined. Second, the common formulas for solving inverse kinematics, the Jacobian matrix, and velocity are derived. Third, a common virtual serial mechanism with three virtual prismatic joints and three virtual revolute joints corresponding to three Euler rotations is constructed. Fourth, a common analytic formula for solving driving forces in spatial parallel manipulators with less than six DOFs is derived by using the principle of virtual work and the virtual serial mechanism. Finally, a 3-SPR parallel manipulator with three DOFs and a 4SPS+SPR parallel manipulator with five DOFs are presented to illustrate the use of the unified approach to solve their inverse kinematics and the driving forces. The solving results are verified by the simulation mechanisms.
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Saito, Takashi Kei, Kento Onodera, Riku Seino, Takashi Okawa i Yasushi Saito. "300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot". Journal of Robotics and Mechatronics 33, nr 1 (20.02.2021): 141–50. http://dx.doi.org/10.20965/jrm.2021.p0141.
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We designed a new telescopic manipulator that uses a clustered elastic convex tape. The manipulator has an ultra-wide expansion range and toughness against mechanical stress. Compared to conventional linear actuators, our convex-type manipulators have high extension range and are very lightweight. Moreover, they are compact when rolled up. The telescopic manipulators designed in the previous study had insufficient output due to structural problems and were unstable. In this study, we report a Type-K telescopic manipulator mechanism (Makijaku-Ude Type-K), which is a redesigned manipulator that can be easily used with a 300-N class power, and applied the mechanism to a three degrees-of-freedom spatial parallel-mechanism robot.
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Petrescu, Florian Ion, i Relly Victoria Petrescu. "Presenting a Railbound Forging Manipulator". Applied Mechanics and Materials 762 (maj 2015): 219–24. http://dx.doi.org/10.4028/www.scientific.net/amm.762.219.
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Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationships between outputs and inputs have greatly influence about the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper one presents the general aspects of a railbound forging manipulator, like geometry, structure, general kinematics and forces of the main mechanism from such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.
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Ebert-Uphoff, Imme, Cle´ment M. Gosselin i Thierry Laliberte´. "Static Balancing of Spatial Parallel Platform Mechanisms—Revisited". Journal of Mechanical Design 122, nr 1 (1.01.2000): 43–51. http://dx.doi.org/10.1115/1.533544.
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This article discusses the development of statically balanced spatial parallel platform mechanisms. A mechanism is statically balanced if its potential energy is constant for all possible configurations. This property is very important for robotic manipulators with large payloads, since it means that the mechanism is statically stable for any configuration, i.e., zero actuator torques are required whenever the manipulator is at rest. Furthermore, only inertial forces and moments have to be sustained while the manipulator is moving. The application that motivates this research is the use of parallel platform manipulators as motion bases in commercial flight simulators, where the weight of the cockpit results in a large static load. We first present a class of spatial parallel platform mechanisms that is suitable for static balancing. The class of mechanisms considered is a generalization of the manipulator described by Streit (1991, “Spatial Manipulator and Six Degree of Freedom Platform Spring Equilibrator Theory,” in Second National Conference on Applied Mechanisms and Robotics, VIII.B, pp. 1-1–1-6). Then sufficient conditions on the kinematic parameters that guarantee static balancing are derived for this class. Finally a particular mechanism is studied in more detail to show the practicability of its design. [S1050-0472(00)01401-X]
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Ding, Wen Hua, Hua Deng, Yi Zhang i Yao Qing Ren. "Optimum Design of the Jaw Clamping Mechanism of Forging Manipulators Based on Force Transmissibility". Applied Mechanics and Materials 157-158 (luty 2012): 737–42. http://dx.doi.org/10.4028/www.scientific.net/amm.157-158.737.
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In this paper, the jaw clamping mechanism of a forging manipulator is regarded as a slider-crank mechanism. First, the force Jacobian matrix of the mechanism is obtained according to the dual relationship of velocity Jacobian matrix and force Jacobian matrix. Then, the performance atlases of the global force transmission index and the input space index that represents the motion range of the jaw are drawn with different inputs for the mechanisms of the nondimensional parameters. Furthermore, we research the effect of these structure parameters of the mechanism on the gripping force transmission and input space, and find an optimal range in the force transmission atlas. Finally, we synthesize a detail optimal flowchart of the jaw clamping mechanism of forging manipulators based on force transmissibility. A jaw clamping mechanism of a forging manipulator is studied as an example, and results show that the method presented in this paper is effective for finding an optimal gripper mechanism. The research in this paper can be served as fundamentals of design and optimization of the jaw clamping mechanism of forging manipulators.
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Sundar, Syam, Vijay S. Rathore, Manoj K. Sahi, V. Upendran i Anjan Kumar Dash. "Workspace Analysis and Going through Singularities of 5-Bar Symmetric Planar Parallel Manipulator by Automated Selective Actuation Mechanism". Advanced Materials Research 588-589 (listopad 2012): 1664–68. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1664.
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In this article‚ a new approach is presented to determine the various shapes of workspaces of 5 bar symmetric planar parallel manipulators. Here the shape of the workspace is determined by the number of ways the workspaces of the two serial manipulators intersect with each other. Geometric conditions are established in each case and area of each shape of workspace is determined in closed form. Singularity is another important consideration in the design of parallel manipulators. In this paper, an approach is presented to go through the singularity points using an automatic selective actuation mechanism. A prototype 5-bar planar manipulator is fabricated along with an automatic selective actuation mechanism demonstrating the manipulator going through the singularity points.
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Liu, Xin-Jun, Jinsong Wang, Feng Gao i Li-Ping Wang. "Mechanism design of a simplified 6-DOF 6-RUS parallel manipulator". Robotica 20, nr 1 (styczeń 2002): 81–91. http://dx.doi.org/10.1017/s0263574701003654.
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This paper concerns the issue of mechanism design of a simplified 6-DOF 6-RUS parallel manipulator. The design of robotic mechanisms, especially for 6-DOF parallel manipulators, is an important and challenging problem in the field of robotics. This paper presents a design method for robotic mechanisms, which is based on the physical model of the solution space. The physical model of the solution space, which can transfer a multi-dimensional problem to a two or three-dimensional one, is a useful tool to obtain all kinds of performance atlases. In this paper, the physical model of the solution space for spatial 6-RUS (R stands for revolute joint, U universal joint and S spherical joint) parallel manipulators is established. The atlases of performances, such as workspace and global conditioning index, are plotted in the physical model of the solution space. The atlases are useful for the mechanism design of the 6-RUS parallel manipulators. The technique used in this paper can be applied to the design of other robots.
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RAGULSKIS, Kazimieras, Algimantas BUBULIS, Vytautas JŪRĖNAS, Joris VĖŽYS, Petras PAŠKEVIČIUS i Liutauras RAGULSKIS. "Investigation of Dynamics of the Manipulator with Self-Stopping Mechanism and Vibration Drive Based on Centrifugal Forces". Mechanics 30, nr 3 (28.06.2024): 286–93. http://dx.doi.org/10.5755/j02.mech.36275.
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Manipulators of this type can be used as constituent parts of robots of several dimensions. Vibration drive based on centrifugal forces is often used in elements of manipulators and robots. In this paper manipulator with vibration drive based on centrifugal forces and with the self-stopping mechanism is investigated. The model of the investigated manipulator is described and equations determining the motion of the manipulator are obtained. The conservative system is investigated. Then the full dynamic model is investigated. Also, the model with excitation of unlimited power is investigated. Numerical solution of the obtained equations is performed. First the results for the conservative system are described and investigated. Then the full dynamic model is investigated in detail. Also, the model with excitation of unlimited power is described and investigated. Various typical graphical relationships determining the dynamic behavior of the investigated manipulator with vibration drive based on centrifugal forces in steady state regimes of motion are presented. Experimental investigations are performed. The obtained results are used in the process of design of manipulators with vibration drive based on centrifugal forces.
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Pastor, Robert, Zdenko Bobovský, Daniel Huczala i Stefan Grushko. "Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links". Applied Sciences 11, nr 6 (10.03.2021): 2471. http://dx.doi.org/10.3390/app11062471.
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There are several ubiquitous kinematic structures that are used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers are experimenting with task-based mechanism synthesis that could provide higher efficiency with custom optimized manipulators. Many studies have focused on finding the most efficient optimization algorithm for task-based robot manipulators. These manipulators, however, are usually optimized from simple modular joints and links, without exploring more elaborate modules. Here, we show that link modules defined by small numbers of parameters have better performance than more complicated ones. We compare four different manipulator link types, namely basic predefined links with fixed dimensions, straight links that can be optimized for different lengths, rounded links, and links with a curvature defined by a Hermite spline. Manipulators are then built from these modules using a genetic algorithm and are optimized for three different tasks. The results demonstrate that manipulators built from simple links not only converge faster, which is expected given the fewer optimized parameters, but also converge on lower cost values.
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Qazani, Mohammad Reza Chalak, Siamak Pedrammehr, Arash Rahmani, Behzad Danaei, Mir Mohammad Ettefagh, Aslan Khani Sheikh Rajab i Hamid Abdi. "Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system". Robotica 33, nr 08 (29.04.2014): 1686–703. http://dx.doi.org/10.1017/s0263574714000988.
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SUMMARYParallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. However, most of the proposed parallel manipulators suffer from a limited workspace. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. Since parallel mechanisms have more workspace limitations compared to that of serial mechanisms, determination of the workspace in parallel manipulators is of the utmost importance. For finding position, angular velocity, and acceleration, in this paper, inverse and forward kinematics of the mechanism are studied and after presenting the workspace limitations, workspace analysis of the hexarot manipulator is performed by using MATLAB software. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. Finally, it is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations.
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Xu, Yundou, Yu Liu, Jiantao Yao i Yongsheng Zhao. "Analysis of a novel lifting mechanism for forging manipulators". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 229, nr 3 (15.05.2014): 528–37. http://dx.doi.org/10.1177/0954406214535924.
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In this paper, a hybrid serial–parallel forging manipulator was put forward, which is composed of a planar five-bar mechanism and a two-limb parallel mechanism in series. Forging manipulator’s DOF properties and motion principle were analyzed by means of screw theory. The position solution of the main motion mechanism of manipulator was derived in the grasping stage, which was used to solve input displacements of lifting and pitching hydraulic cylinders depending on the requirements of forged piece’s lifting height and pitching angle. Dimensional optimization of the manipulator’s main motion mechanism is carried out based on position equations, resulting in that the gripper carrier’s lifting motion was decoupled from the horizontal motion. The analytical expression between driving forces of each hydraulic cylinder and external load was derived by solving the first-order derivative of position equations and using principle of virtual work. The results showed that for the parallel-link manipulator, when gripper carrier is horizontal, driving force of lifting hydraulic cylinder is only related to forged piece’s gravity but not to gravitational moment. The mechanism of this phenomenon was also further studied. Experimental model with ratio 1:20 of forging manipulator’s lifting mechanism was developed, and kinematic and static experiments were conducted on it to verify the dimensional optimization results and the conclusion was obtained by the statics.
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Xiao, Yongfei, Shuhui Bi, Xuelin Wang, Xiangdong Li i Xinjian Fan. "Analysis and Optimization for Balancing Mechanism of High-Speed & Heavy-Load Manipulators". Journal of Robotics and Mechatronics 26, nr 5 (20.10.2014): 622–27. http://dx.doi.org/10.20965/jrm.2014.p0622.
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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/11.jpg"" width=""300"" />Balancing mechanism of robots</div> Heavy-load manipulators usually have a balance to minimize energy consumption and maximize payload capacity. Appropriate design parameters are important to balancing devices in improving performance. We propose evaluating optimal parameters to achieve the best possible manipulator motion features. A dynamic manipulator model with a parallel-link mechanism is analyzed using the Lagrange principal. We also propose a way to reduce nonlinear influence while improving payload capacity. The optimized method is used for instructing how to design and optimize heavyload manipulators, as shown through simulation and experiments. </span>
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Xue, Zi Yun. "An Introduction to Parallel Robot Mechanism". Advanced Materials Research 605-607 (grudzień 2012): 1609–12. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.1609.
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With the dual relationship between parallel mechanism and serial mechanism on the structure and performance characteristics, the emergence of parallel mechanism, expand the areas of application of the robot. In this paper, a survey on the origin, main characteristics, field of application, and theoretical research of parallel manipulators are reviewed. Finally, some important problems of the parallel manipulator are mentioned to be solved.
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Li, Guang Jun, A. Ni Luo, He Ping Liu i Lin Wang. "Kinematical Analysis of Manipulators Interfacing". Key Engineering Materials 419-420 (październik 2009): 181–84. http://dx.doi.org/10.4028/www.scientific.net/kem.419-420.181.
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Underwater interfacing device of flexible manipulators is designed in order to avoid blindness and fatalness of direct interfacing and fit the condition of low visibility and large leaning swing. At initial stage of interfacing, velocity expression of single manipulator is obtained. According to position relation of interfacing device and aim circle, coordinate transforming matrix is obtained through analysis. Considering limiting relation of harmony movement, the method of Denavit- Hartenberg is adopted to get velocity expressions of two opposite manipulator ends. At pulling down state, reverse kinematical solutions of parallel mechanism are solved to obtain lengths of manipulators.
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Zhou, Hui, Yi Cao, Baokun Li, Meiping Wu, Jinghu Yu i Haiwei Chen. "Position-Singularity Analysis of a Class of the 3/6-Gough-Stewart Manipulators Based on Singularity-Equivalent-Mechanism". International Journal of Advanced Robotic Systems 9, nr 1 (1.01.2012): 9. http://dx.doi.org/10.5772/45664.
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This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6-Gough-Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6-Gough-Stewart manipulators according to the screw theory, a cubic polynomial expression in the moving platform position parameters that represents the position-singularity locus of the manipulator in a three-dimensional space is derived. Graphical representations of the position-singularity locus for different orientations are given so as to demonstrate the results. Based on the singularity kinematics principle, a novel method referred to as ‘singularity-equivalent-mechanism' is proposed, by which the complicated singularity analysis of the parallel manipulator is transformed into a simpler direct position analysis of the planar singularity-equivalent-mechanism. The property of the position-singularity locus of this class of parallel manipulators for general orientations in the principal-section, where the moving platform lies, is identified. It shows that the position-singularity loci of this class of 3/6-Gough-Stewart manipulators for general orientations in parallel principal-sections are all quadratic expressions, including a parabola, four pairs of intersecting lines and infinite hyperbolas. Finally, the properties of the position-singularity loci of this class of 3/6-Gough-Stewart parallel manipulators in a three-dimensional space for all orientations are presented.
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He, Jing Fei, Chao Xu, Hua Deng i Long Han. "The Research on Characteristics of Movement Coupling in Forging Manipulator". Advanced Materials Research 591-593 (listopad 2012): 648–52. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.648.
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Heavy-duty forging manipulators play an important role in extreme manufacturing. Based on the kinematic model of DDS forcing manipulator, the input- output relation equations in terms of position are derived. According to the actually movement path of output mechanism, a new decoupling concept is defined as to forcing manipulator. The input-output relation matrices in terms of velocity are established at three major motions, and the coupling characteristics of mechanism are analyzed. At last, the theory analysis is proved correct by experimental verification. The results show that three major motion mechanisms of DDS forcing manipulator are partially decoupled under the new decoupling concept compared with the conventional one, which helps to simplify the control strategy of DDS forcing manipulator.
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Li, Xiaopeng, Dongyang Shang, Haiyang Li i Fanjie Li. "Resonant Suppression Method Based on PI control for Serial Manipulator Servo Drive System". Science Progress 103, nr 3 (lipiec 2020): 003685042095013. http://dx.doi.org/10.1177/0036850420950130.
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A typical serial manipulator consists of a servo motor, a serial mechanism and an independent joint placed between the motor and the serial mechanism. Both the time-varying characteristics of the inertia of the serial mechanism and the flexibility characteristics of the independent joint are widely found in serial manipulator servo drive systems. These two characteristics not only increase the resonance magnitude of serial manipulators, but also affect the dynamic characteristics of the system. In order to obtain a stable output speed of serial manipulators, the variable parameters of a PI control strategy is applied to a serial manipulator servo drive system. Firstly, dynamic model of a serial manipulator servo drive system is established based on a two-inertia system. Then the transfer function from motor speed to motor electromagnetic torque is derived by the state-space equation. Furthermore, the parameters of the PI controller are designed and optimized utilizing three different pole assignment strategies with the identical radius, the identical damping coefficients, and the identical real parts. The results indicate that a serial manipulator servo drive system can obtain good dynamic characteristics by selecting parameters of the PI controller appropriately.
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Zou, Hai Xin, Xiang Jun Zou, Yin Le Chen i Quan Sun. "Research on Virtual Design and Simulation System for Manipulators of Multi-Degree of Freedom". Advanced Materials Research 97-101 (marzec 2010): 3475–78. http://dx.doi.org/10.4028/www.scientific.net/amr.97-101.3475.
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According to different environment and working requirement, the manipulators with diverse shapes and functions are required. In this paper, a virtual design and simulation system for manipulators of multi-degree of freedom (DOF) was put forward. Knowledge classification and modeling were carried out for the manipulator’s mechanism and motion behaviors. The software architecture framework and platform of the hardware and software were described. The overall program approach and its realization of the system were introduced. Based on the VC++ 6.0 development platform, the manipulator’s design and simulation system was developed and tested by examples. The results show that it provides a theoretical method and a tool for the virtual design and virtual manufacturing of multi-DOF manipulators in complex environment, which elevates the speed and lowers the cost of research and development.
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Danshina, Anzhela, Oleg Kravchenko i Azamat Bekin. "Improvement Methods and Ways of Manipulator Electromechanical Force Compensating System". Известия высших учебных заведений. Электромеханика 64, nr 1 (2021): 69–76. http://dx.doi.org/10.17213/0136-3360-2021-1-69-76.
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In paper electromechanical system for force compensating medium manipulator used in industry for motion different cargo was presented. Working purpose is determination of research method of manipulator with force compensating control system. Improvement methods and ways of current force compensating manipulator sys-tem are concerned. Research showed that now light-weight structures of manipulators with elastic mechanical transmissions are used. Low stiffness of mechanisms increases elastic mechanical vibration of cargo. Active methods of compensation are used using an electric drive with a force control system in executive mechanism of manipulator for realization of compensation of cargo weight and damping of elastic mechanical vibrations. Control system is recommended to build with main force feedback in elastic element. Multifactorial method is rational to use during choosing device of manipulator electromechanical module. This method considers the most main operating conditions of manipulator. Problem solution of control influence synthesizing must make with correctors with differentiating properties. Studies have shown that proposed methods for improving force compensating manipulators will make structure as lightweight, reduce inertia, increase working area of manipulator, and improve quality of operations for moving various cargos
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Bergerman, Marcel, i Yangsheng Xu. "Robust Joint and Cartesian Control of Underactuated Manipulators". Journal of Dynamic Systems, Measurement, and Control 118, nr 3 (1.09.1996): 557–65. http://dx.doi.org/10.1115/1.2801180.
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Underactuated manipulators are robot manipulators composed of both active and passive joints in serial chain mechanisms. The study of underactuation is significant for the control of a variety of rigid-body systems, such as free-floating robots in space and gymnasts, whose structure include passive joints. For mechanisms with large degrees of freedom, such as hyper-redundant snake-like robots and multi-legged machines, the underactuated structure allows a more compact design, weight decrease, and energy saving. Furthermore, when one or more joints of a standard manipulator fail, it becomes an underactuated mechanism; a control technique for such system will increase the reliability and fault-tolerance of current and future robots. The goal of this study is to present a robust control method for the control of underactuated manipulators subject to modeling errors and disturbances. Because an accurate modelling of the underactuated system is more critical for control issues than it is for standard manipulators, this method is significant in practice. Variable structure controllers are proposed in both joint space and Cartesian space, and a comprehensive simulation study is presented to address issues such as computation, robustness, and feasibility of the methods. Experimental results demonstrate the actual applicability of the proposed methods in a real two-degrees-of-freedom underactuated manipulator. As it will be shown, the proposed variable structure controller provides robustness againstboth disturbances and parametric uncertainties, a characteristic not present on previously proposed PID-based schemes.
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Tsai, Lung-Wen, i Sameer Joshi. "Kinematic Analysis of 3-DOF Position Mechanisms for Use in Hybrid Kinematic Machines". Journal of Mechanical Design 124, nr 2 (16.05.2002): 245–53. http://dx.doi.org/10.1115/1.1468860.
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This paper introduces a new kinematic architecture called the hybrid kinematic machine. A hybrid kinematic machine typically consists of a position mechanism and an orientation mechanism that can be arranged in series or in parallel to achieve the notion of modular and reconfigurable machining centers. To demonstrate the concept, four parallel manipulators with translational motion characteristics have been identified. The kinematics of these mechanisms are described. Then, the well-conditioned workspace of each mechanism is maximized, and the stiffness properties are mapped. A comparison of the workspace volume and stiffness properties of these four mechanisms indicates that the 3-RUU manipulator appears to be the best design among the four architectures.
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Pinto, Charles, Javier Corral, Oscar Altuzarra i Alfonso Hernández. "A methodology for static stiffness mapping in lower mobility parallel manipulators with decoupled motions". Robotica 28, nr 5 (24.09.2009): 719–35. http://dx.doi.org/10.1017/s0263574709990403.
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SUMMARYIn this paper a general methodology for obtaining static stiffness maps in lower mobility parallel manipulators is proposed. The main objective is to define a set of guidelines, which allow the experimental work to be optimized and computational time to be reduced. First, a two-degree-of-freedom (DOF) mechanism will be used for methodology validation, since it is the stiffness of the basic kinematic chain of the manipulator that is to be analysed. Two mathematical models of this mechanism and an experimental prototype will be considered for the validation. After that, the methodology will be applied to a lower mobility (4-DOF) parallel manipulator. In this paper, the experimental prototype and its set-up is highly important because some particular features of the experimental analysis will be defined. This paper introduces a key experimental tool: the preload, which allows the clearances and possible assembling errors to be considered. The added value from the application of this procedure is the obtaining of graphs that describe, in an intuitive and useful way, the behaviour of the manipulator's stiffness inside its workspace as a function of the mobile platform position and orientation.
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Matone, R., i B. Roth. "In-Parallel Manipulators: A Framework on How to Model Actuation Schemes and a Study of their Effects on Singular Postures". Journal of Mechanical Design 121, nr 1 (1.03.1999): 2–8. http://dx.doi.org/10.1115/1.2829425.
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This paper is concerned with the modeling of actuation schemes and their effects on the singularities of in-parallel manipulators. We begin by presenting a framework on how to incorporate actuator location and drive mechanism into the kinematic model of in-parallel manipulators. We show how to obtain the model in joint (actuator) space given the corresponding representation in actuator (joint) space. Next we show that, for in-parallel manipulators, the locations of actuators can modify singular postures. We present necessary and sufficient conditions on how to transform a singular configuration into a non-singular one by simply changing actuators locations. Finally, we illustrate these concepts with the analysis and design of a five-bar in-parallel manipulator for which transmission ratios and drive mechanisms are selected in order to improve kinematic characteristics. The example illustrates the fact that the choice of actuation schemes influences the size, shape, and direction of the velocity ellipsoid. Consequently, this choice modifies the velocity distribution in the entire workspace.
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Zou, Xiang Jun, Hai Xin Zou, J. Lu, Yan Chen, Ai Xia Guo, J. Z. Deng i Lu Feng Luo. "Research on Manipulator Positioning Based on Stereo Vision in Virtual Environment". Key Engineering Materials 392-394 (październik 2008): 200–204. http://dx.doi.org/10.4028/www.scientific.net/kem.392-394.200.
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Inherent uncertainties always exist in the positioning picking manipulators in complex environment, modeling and simulation of positioning. The manipulators were discussed based on binocular stereo vision in virtual environment (VE). Based on stereo vision, a method how virtual manipulators locate picking object by human-computer interaction (HCI) was proposed. The data input from vision were mapped to virtual picking manipulators so that it could enable the positioning and simulation with route and events-driven mechanism. The positioning experimental platform in VE consists of hardware of CCD stereo vision and simulation software. The visualized simulation system was exploited by EON SDK. The simulation of manipulator’s positioning was realized in VE by the platform. This method can be used for virtual robot to locate objects’ long-distance positioning in complex environment.
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Posmetev, Valeriy, Vadim Nikonov, Viktor Posmetev, V. Zelikov i Petr Kolodiy. "Computer simulation of the recuperative crank mechanism for turning the column of the manipulator of a timber road train". Forestry Engineering Journal 13, nr 2 (27.09.2023): 158–78. http://dx.doi.org/10.34220/issn.2222-7962/2023.2/9.
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The study is aimed at improving the efficiency of the hydraulic manipulators of timber-carrying road trains operating in difficult natural and climatic conditions. The relevance of the scientific direction is substantiated, aimed at reducing energy losses in the hydraulic drives of manipulators in the process of performing loading and unloading operations. The works of foreign scientists are analyzed, which made it possible to identify promising areas for improving the efficiency of hydraulic manipulators, including the development of more modern drives, increasing productivity, accuracy and automation of their control processes. In order to improve the energy efficiency, performance and reliability of hydraulic manipulators of timber road trains, the authors proposed a promising design of the column slewing mechanism with a crank drive. The study was based on mathematical and simulation modeling, numerical methods, as well as modern methods for obtaining and processing information with computer support. A mathematical model and a computer program for the operation of a hydraulic manipulator with a regenerative crank drive of the column slewing mechanism made it possible to estimate the recuperated energy and the swing amplitude of the transported load. When using a hydraulic manipulator equipped with the proposed crank drive, the boom length of which is on average 6 m, and the weight of the transported timber is 600 kg, the amount of energy that can be stored in the pneumohydraulic accumulator is about 1300 J. The angular unevenness of the crank drive is 23.6 % and 4.6 % when assessed in terms of recuperated energy and load swing amplitude, respectively. For a typical hydraulic manipulator with a boom length of 6 m, when braking the rotation of the column, the recuperation system allows to store from 0.39 to 2.59 kW with a load mass of 200 to 1400 kg, respectively, with an acceptable load swing amplitude, respectively, from 0.2 to 0.48 m. The obtained results will be used as recommendations for the purpose of finalizing the proposed crank drive of the rotary device of the hydraulic manipulator at the stage of its design.
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Simoni, Roberto, Andrea Piga Carboni i Daniel Martins. "Enumeration of parallel manipulators". Robotica 27, nr 4 (lipiec 2009): 589–97. http://dx.doi.org/10.1017/s0263574708004979.
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SUMMARYIn this paper, we present a new method of enumeration of parallel manipulators with one end-effector. The method consists of enumerating all the manipulators possible with one end-effector that a single kinematic chain can originate. A very useful simplification for kinematic chain, mechanism and manipulator enumeration is their representation through graphs. The method is based on group theory where abstract structures are used to capture the internal symmetry of a structure in the form of automorphisms of a group. The concept used is orbits of the group of automorphisms of a colored vertex graph. The theory and some examples are presented to illustrate the method.
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Stepanenko, Y., i T. S. Sankar. "Position and Force-Reflecting Accuracy of Remote Manipulators". Transactions of the Canadian Society for Mechanical Engineering 9, nr 3 (wrzesień 1985): 151–56. http://dx.doi.org/10.1139/tcsme-1985-0022.
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Remote master-slave manipulators are treated as a system of two articulated spatial mechanisms with elastic connections, A relative dislacement of the “slave” mechanism with respect to its “master” kinematic replica results in a distortion of the force reflecting information. This distortion may be significant in particular regions of the configuration space and for certain special positions of the mechanisms. Force-reflecting errors of the model are analysed as functions of the position and orientation of the manipulator and various loads. This analysis results in a torque compensating algorithm based on information relating to the state of the master arm only, that is useful in many robotic operations.
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Dalay, B. S., V. S. Medvedev i T. A. Romanova. "Synthesizing Control Systems for Multi-Degree of Freedom Manipulators". Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 210, nr 1 (luty 1996): 45–50. http://dx.doi.org/10.1243/pime_proc_1996_210_435_02.
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Methods of analysing single input and single output control systems are well established (1). The same is not true of techniques for solving problems involving multi-inputs and multi-outputs. Such problems arise when controlling manipulators having many degrees of freedom. In this paper techniques of control system synthesis for manipulator mechanisms are considered. The method is based on locating the roots of the characteristic equation to give the desired dynamic properties for every link's servo system in the mechanism. Each link is treated independently. Simple examples to illustrate the method are presented.
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Xu, Yundou, Jiantao Yao i Yongsheng Zhao. "Type synthesis of spatial mechanisms for forging manipulators". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 226, nr 9 (5.01.2012): 2320–30. http://dx.doi.org/10.1177/0954406211433246.
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In this study, a systematic method is proposed to synthesize the parallel and hybrid serial–parallel mechanisms for the forging manipulators based on the screw theory. First, several typical configurations of five-degrees-of-freedom parallel mechanism for the forging manipulators are synthesized, and they are all non-overconstrained mechanisms. Then, two kinds of hybrid serial–parallel mechanisms for the forging manipulators with the advantages of motion decoupling are constructed, which are also not overconstrained. The configurations obtained in this study would provide more type selection for the heavy-duty forging manipulators in engineering.
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Hou, Yangyang, Huajie Hong, Zhaomei Sun, Dasheng Xu i Zhe Zeng. "The Control Method of Twin Delayed Deep Deterministic Policy Gradient with Rebirth Mechanism to Multi-DOF Manipulator". Electronics 10, nr 7 (6.04.2021): 870. http://dx.doi.org/10.3390/electronics10070870.
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As a research hotspot in the field of artificial intelligence, the application of deep reinforcement learning to the learning of the motion ability of a manipulator can help to improve the learning of the motion ability of a manipulator without a kinematic model. To suppress the overestimation bias of values in Deep Deterministic Policy Gradient (DDPG) networks, the Twin Delayed Deep Deterministic Policy Gradient (TD3) was proposed. This paper further suppresses the overestimation bias of values for multi-degree of freedom (DOF) manipulator learning based on deep reinforcement learning. Twin Delayed Deep Deterministic Policy Gradient with Rebirth Mechanism (RTD3) was proposed. The experimental results show that RTD3 applied to multi degree freedom manipulators is in place, with an improved learning ability by 29.15% on the basis of TD3. In this paper, a step-by-step reward function is proposed specifically for the learning and innovation of the multi degree of freedom manipulator’s motion ability. The view of continuous decision-making and process problem is used to guide the learning of the manipulator, and the learning efficiency is improved by optimizing the playback of experience. In order to measure the point-to-point position motion ability of a manipulator, a new evaluation index based on the characteristics of the continuous decision process problem, energy efficiency distance, is presented in this paper, which can evaluate the learning quality of the manipulator motion ability by a more comprehensive and fair evaluation algorithm.
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Chen, Wen Jia, Yan Zhong He i Jiang Zhang. "A Four Degrees of Freedom Parallel Manipulator for Machining". Advanced Materials Research 139-141 (październik 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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Zhang, Cunxiang. "General compensation control method of flexible manipulator driven by tendon-sheath mechanism". Journal of Physics: Conference Series 2364, nr 1 (1.11.2022): 012019. http://dx.doi.org/10.1088/1742-6596/2364/1/012019.
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Abstract Flexible manipulator has been widely used because of its flexibility. In addition, the tendon-sheath mechanism has the advantages of compact structure and strong flexibility, and it can be used as the driving transmission mode of the flexible manipulator. However, the nonlinear and hysteretic characteristics of the tendon-sheath mechanism directly affect the motion accuracy of the manipulator. Firstly, the kinematic and static models of the flexible manipulator are analyzed considering the influence of multi section coupling. In addition, the mechanical transmission process of the tendon-sheath mechanism is analyzed. On this basis, a general feedforward compensation method for the flexible manipulator is established. The proposed model-based compensation control method can be applied to all flexible manipulators, and it is of great significance to promote the practical application of the manipulator.
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Ando, Noriaki, Masahiro Ohta, Kohei Gonda i Hideki Hashimoto. "Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems". Journal of Robotics and Mechatronics 13, nr 5 (20.10.2001): 488–96. http://dx.doi.org/10.20965/jrm.2001.p0488.
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This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A parallel manipulator motion is restricted by 3 factors: mechanical limits of the passive joints, collision between links and actuators limitations. Results of the numerical workspace analysis considering the above factors are shown. We are proposing the use of dual manipulators for implementing improved real manipulation systems. The first kinematics and workspace analysis of dual systems using the VR simulator are also shown.
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MAIDAN, Pavlo, Denys MAKARYSHKIN, Yuriy MYKHAYLOVSKIY i Ella ZOLOTENKO. "SIMULATION THE WORKING OF THE MANIPULATOR IN THE SOFTWARE ENVIRONMENT TIA PORTAL V.15.1(NOTIFICATION 1)". Herald of Khmelnytskyi National University. Technical sciences 311, nr 4 (sierpień 2022): 150–58. http://dx.doi.org/10.31891/2307-5732-2022-311-4-150-158.
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It is known that manipulators with automatic and hand types of control are distinguished by the type of control system. In manipulators with an automatic type of control, the links of the executive mechanism are set in motion by servo drives operating according to a previously developed program. In manipulators with a hand control type, there is an operator who acts on the links of the control mechanism and drives the links of the executive mechanism. The paper presents the results of simulation the working of the manipulator with six degrees of freedom, performed in the software environment TIA PORTAL V.15.1. Namely, the first stage, creating technological objects used as digital doubles for starting stepper motors, which are installed in the design of the manipulator. The creation of technological objects will make it possible to check the correct operation of the manipulator in the test mode, to determine and program the necessary speeds and accelerations, to monitor and eliminate possible errors during start-up. To simplify the application of some technological functions that can be used together with the SIMATIC controller, the so-called Technology objects (TO) were used in the software environment TIA Portal. When using TO data, available functions are encapsulated and provided to the application developer for ease of access and convenient use in the application environment. In particular, in the area of «Motion control», such TOs are used to facilitate the control and processing of data from axes, additional motion control functions, as well as to support the developer in creating a specialized program with motion control functions. The first stage of simulation the working of the manipulator in the software environment TIA Portal was completed, namely the creation of technological objects of this manipulator, that is, the creation of digital doubles for three stepper motors of the type 28BYJ-48, which are used as drives for the task of moving the manipulator.
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Kim, Doik, i Wan Kyun Chung. "Kinematic Condition Analysis of Three-DOF Pure Translational Parallel Manipulators". Journal of Mechanical Design 125, nr 2 (1.06.2003): 323–31. http://dx.doi.org/10.1115/1.1564573.
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Several 3-DOF pure translational parallel manipulators have been reported recently. However, kinematic conditions of such translational parallel manipulators have not been studied deeply. Most previously reported translational parallel manipulators were analyzed by considering constraints on the motion of an independent leg. In addition to the constraints of independent legs, the effect of the constraints on an overall mechanism are analyzed in this paper. The overall kinematic constraints are explained by introducing the restriction of motion, which is a constraint that prohibits a manipulator from moving in a certain region or direction, instantaneously. By introducing it, kinematic constraints can be embedded explicitly in the formulation of rate kinematics, and by analyzing it, constraints for a desired motion can be found. This paper derives constraints for pure translational motion in a systematic way. Necessary and sufficient conditions are suggested and several translational parallel manipulators with their kinematic features are provided.
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Tuleshov, K. Amandyk, A. Kassymbek Ozhikenov i K. Assylbek Ozhiken. "Investigation of Dynamical Peculiarities of Manipulator on the Basis of close Circuit Mechanism". Advanced Materials Research 705 (czerwiec 2013): 386–89. http://dx.doi.org/10.4028/www.scientific.net/amr.705.386.
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Manipulator dynamics is investigated on the basis of closed kinematic chain, in comparison to manipulator on the base of non-closed kinematic chain. Thereby the dynamic peculiarities of their driving actuators are considered. The solution of the task of program motion development was received as a solution of inverse task of kinematics. The modeling issues of investigated manipulators dynamics are resolved and the results were attained. The attained results demonstrate that the application of flat closed mechanisms as the operating device of manipulation robots is promising from the perspective of enhancement of their dynamical peculiarities.
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Rahmani, Arash, i Ahmad Ghanbari. "Neural Network Solutions for Forward Kinematics Analysis of 2-(6UPS) Manipulator". Applied Mechanics and Materials 624 (sierpień 2014): 424–28. http://dx.doi.org/10.4028/www.scientific.net/amm.624.424.
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In this paper, we present Kinematic analysis of a specific class of series–parallel manipulators, known as 2(6-UPS) manipulator, which composed of two modules which consist of elementary manipulators with the parallel structure of the Stewart Platform. After extracting the Kinematics Model of the hybrid manipulator, because of highly nonlinear relations between joint variables and position and orientation (location) of the end effectors in this kind of hybrid mechanism, we applied wavelet neural network with its inherent learning ability, to solve the kinematics problem. Proposed wavelet neural network (WNN) is applied to approximate the paths of mid and upper plate in different paths. Comparison the results of neural network with closed form solution (CFS) show high accurate performance of proposed WNN.
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Tolstosheev, A. K., i V. A. Tatarintsev. "Designing Statically Determinable Mechanisms of Technological Mechatronic Machines with Parallel Kinematics". Mekhatronika, Avtomatizatsiya, Upravlenie 20, nr 7 (4.07.2019): 428–36. http://dx.doi.org/10.17587/mau.20.428-436.
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The work is devoted to improving the reliability and manufacturability of mechatronic machine designs with parallel kinematics by replacing statically indeterminable manipulators with statically determinable mechanisms. A technique is proposed in which the design of statically determinable manipulators of technological mechatronic machines with parallel kinematics is performed by modifying the structure of prototypes and includes three steps: identifying and analyzing redundant links, eliminating redundant links, checking the correctness of eliminating redundant links. To determine the number of degrees of freedom of the mechanism, identify redundant links, and verify the solution, the authors use the proposed methodology for structural analysis of parallel structure mechanisms. In structural analysis, a manipulator is represented by a hierarchical structure and is considered as a parallel connection of elementary mechanisms with an open kinematic chain; as a kinematic chain consisting of leading and driven parts; as a set of links and kinematic pairs; as a kinematic connection of the output link and the rack. The article implements the following techniques for eliminating redundant links: mobility increase in kinematic pairs; introduction of unloading links and passive kinematic pairs to the kinematic chain; exclusion of extra links and pairs from the kinematic chain; increase in mobility in some kinematic pairs simultaneously with the exclusion of other kinematic pairs that have become superfluous. The authors developed several variants of structural schemes of self-aligning manipulators based on the Orthoglide mechanism, which retain the basic functional proper ties of the prototype. To increase the number of self-aligning mechanism diagrams, the redistribution of mobilities and links within the connecting kinematic chain and between connecting kinematic chains is used. The proposed methodics allow to determine the number of degrees of freedom of the mechanism, the number and type of redundant links, eliminate redundant links and, on an alternative basis, build structural diagrams of statically determinable mechanisms of technological mechatronic machines with parallel kinematics.
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Ku, Hao-Tien, i Yu-Hsun Chen. "An innovative device for enlarging the allowable misalignment for screwing tasks". Mechanical Sciences 13, nr 2 (8.08.2022): 701–12. http://dx.doi.org/10.5194/ms-13-701-2022.
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Abstract. To ensure the repeatability in a screwing task, the robot manipulators have to be calibrated regularly. If the allowable position error of the manipulator is increased, then the frequency of stopping a production line and calibrating the manipulators can be lower; therefore, the cost can be also decreased. This paper presents an innovative device for enlarging the allowable misalignment (DEAM) with five mechanisms, namely detecting, trigger, positioning, pin-and-stopper, and screwing mechanisms. By scanning around the target threaded hole, the screw can be precisely positioned at the location where the hole is detected by the probe. The motion and force analysis are carried out and verified through computer-aided simulation, and the sensitivity of the linkage tolerance is analyzed to ensure that the output position error of the mechanism does not affect the function of the device. Finally, the performance of the innovative device is verified by prototype testing, and the allowable misalignment is enlarged by about 6 times for an M6 screw.
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Hou, Yulei, Guoxing Zhang i Daxing Zeng. "An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, nr 3 (7.11.2019): 808–21. http://dx.doi.org/10.1177/0954406219885963.
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Dynamic modeling serves as the fundamental basis for dynamic performance analysis and is an essential aspect of the control scheme design of parallel manipulators. This report presents a concise and efficient solution to the dynamics of Stewart parallel manipulators based on the screw theory. The initial pose of these manipulators is described. Then the pose matrix of each link of the Stewart parallel mechanism is obtained using an inverse kinematics solution and an exponential product formula. Considering the constraint relationship between joints, the constraint matrix of the Stewart parallel manipulator is deduced. In addition, the Jacobian matrix and the twist of each link are obtained. Moreover, by deriving the differential form of the constraint matrix, the spatial acceleration of each link is obtained. Based on the force balance relationship of each link, the inverse dynamics and the general form of the dynamic model of the Stewart parallel manipulator is established and the process of inverse dynamics is summarized. The dynamic model is then verified via dynamic simulation using the ADAMS software. A numerical example is considered to demonstrate the feasibility and effectiveness of this model. The proposed dynamic modeling approach serves as a fundamental basis for structural optimization and control scheme design of the Stewart parallel manipulators.
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Wang, Xiao Hui, Jian Jun Zhang, Kai Cheng Qi i Wei Min Li. "Mechanism Design and Kinematics for Parallel Manipulators with a UPU Limb". Advanced Materials Research 694-697 (maj 2013): 1729–35. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.1729.
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The workspace of the parallel manipulators is relatively smaller than the serial manipulators. In order to improve the rotational capability, a new type of parallel manipulators with special topology structures and a special limb is proposed. The peculiarity is that the parallel manipulators involve a UPU limb, which makes their mobile platforms rotate continuously. Mechanisms of the type of parallel manipulators are described, and a general structure for this kind of parallel mechanisms is given. Moreover, their kinematic equations are developed to analyze their input-output characteristics. The research can enlarge the application area.
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Lovasz, Erwin Christian, Dan Perju, Nicolae Mircea Dehelean, Liana Maria Dehelean, Inocentiu Maniu i Cristian Moldovan. "Self-Balanced Conco-Balancer Manipulator with Band Mechanism". Solid State Phenomena 166-167 (wrzesień 2010): 259–64. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.259.
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The manipulators, used to handling products or devices in industrial departments, needs to be self-balanced in order to compensate the different weight of the load in its position in the workspace. The known technical solution for self-balancing with counterweight, springs and actuators can be substituted through a band mechanism. The paper proposed a new self-balancing solution for the conco-balancer manipulator with band mechanism and presents its synthesis approach. The non-circular profile of the band mechanism permits the variation of the compensated moment in order to be easy manipulated the load by the operator.
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Wu, Qiong, Hua Chen i Baolong Liu. "A Multi-DOF Manipulator Joint Trajectory Tracking and Monitoring Method Based on Decision Tree". Mathematical Problems in Engineering 2022 (15.10.2022): 1–10. http://dx.doi.org/10.1155/2022/6375727.
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Understanding trajectory tracking control concerns is crucial for industrial-grade manipulators to provide precise and risk-free operations for the safe environment. Consequently, the robot arms need precise aim for tracking a given target trajectory by the trajectory control input driving torque which can use smart AI-based techniques for precision. Similarly, a decision tree is a soft computing-based method of feature space partitioning which can certainly allow the movement of robots in an accurate manner. The control of robot arms is an important aspect for automating the process of sustainable development. Aiming at the problem of poor tracking accuracy of traditional Multi-Degree-of-Freedom Manipulator Joint Trajectory Monitoring (Multi-DoF MJTM) and long monitoring delay, this article proposes a Multi-DOF manipulator joint trajectory tracking method based on decision tree. The Multi-DoF manipulator is developed for the adaptive control object of the working machine, and it is combined with the output response feature to construct the kinematics model of the Multi-DoF manipulator mechanism of the walking machine. The joint trajectory reconstruction of the running trajectory is used to obtain the joint trajectory deviation of the Multi-DoF manipulator’s running trajectory through the multi-measurement system. Based on this, the Multi-DoF manipulator’s running trajectory joint trajectory tracking control equation is obtained to realize the joint trajectory tracking and monitoring of the manipulator. The features for a safe environment are also integrated. The experimental results show that the proposed method has high accuracy in tracking the trajectory of Multi-DoF manipulator joints, and the time delay for tracking and monitoring the trajectory of manipulator’s joints is also optimized.
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Fang, Qian, i Pengjun Mao. "Compliant Contact Force Control for Aerial Manipulator of Adaptive Neural Network-Based Robust Control". Sensors 24, nr 8 (16.04.2024): 2556. http://dx.doi.org/10.3390/s24082556.
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Aerial manipulators expand the application scenarios of manipulators into the air. To complete various operations, the contact force between the aerial manipulator and the target must be precisely controlled. In this study, we first established the mathematical models of the multirotor and the manipulator separately. Their mutual influence is regarded as each other’s disturbance, and the overall linkage mechanism is established through analysis. Then, a robust sliding mode control strategy is developed for accurate trajectory tracking. The controller is derived from Lyapunov theory, which can ensure the stability of the closed-loop system. To compensate for the effect of system uncertainty, an adaptive radial basis function neural network is devised to approximate the part of the controller containing the model information. In addition, an impedance controller is designed to convert force control into position control to make the manipulator contact with the target compliantly. Finally, the simulation and experimental results indicate that the proposed method can guarantee the accuracy of the contact force and has good robustness.
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Sheikhha, Fattah Hanafi, i Alireza Akbarzadeh. "Effect of Link Tolerance and Joint Clearance on End-Effector Positioning of the 3-PSP Manipulator Using Taguchi Method". Applied Mechanics and Materials 798 (październik 2015): 20–24. http://dx.doi.org/10.4028/www.scientific.net/amm.798.20.
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The use of parallel manipulators in industrial is growing. Among key advantages of parallel manipulators versus their serial counterparts, is their improved end-effector positioning accuracy than open-loop mechanism. However, undesirable dimensional tolerance and joint clearance can decrease the positioning accuracy of the end-effector. In this article, Taguchi method is applied to a 3-PSP parallel manipulator to determine how dimensional tolerance and joint clearance affects the accuracy of its end effector. Because of random nature of dimensional tolerance, it is assumed that actual value of all kinematic parameters are normally distributed. Taguchi method is then used and effect of tolerance on accuracy for each of the manipulator kinematics parameters is obtained. Finally, a tolerance set resulting in best accuracy is predicted by the Taguchi method. This tolerance is verified with a new set of experiment.
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Popikov, P., Irina Chetverikova i Aleksandr Chernykh. "INCREASING THE TECHNICAL LEVEL OF HYDRAULIC MANIPULATORS OF AUTOCOLLIMATIONAL". Actual directions of scientific researches of the XXI century: theory and practice 8, nr 1 (26.10.2020): 129–34. http://dx.doi.org/10.34220/2308-8877-2020-8-1-129-134.
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The main requirements for hydraulic equipment of forest transport machines of manipulator type are revealed. It is established that the main drawback of the used hydraulic drives of manipulators is their increased power and high energy consumption. The main ways of increasing the technical level of hydraulic manipulators of forest transport vehicles are considered. The constructive optimization and improvement of the hydraulic drive mechanism for lifting the boom and turning the column of the manipulator is justified. New designs with the use of hydro-mechanical dampers and energy-saving devices are proposed. As energy-saving devices, it is proposed to use a hydraulic accumulator. The main advantages of the design, which are to increase the reliability and expand the technological capabilities of hydraulic manipulators forest transport machines. The principles of influence on the hydraulic system that reduce the pressure in the piston group and reduce energy consumption are substantiated. The proposed energy-saving hydraulic drive reduces the maximum pressure during braking to 3 MPa. The recovery energy when the column is rotated is 25 % of the energy consumed. The diameter of the dampener's lockable cavities should be 48 mm with the internal diameter of the dampener 65 mm. Minimal changes in the design are achieved to increase the technical level of the hydraulic drive of manipulators of forest transport machines and its competitiveness among existing analogues.