A Novel method for the design of 2-DOF Parallel mechanisms for machining applications
Institut de Recherches en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）
Félix Majou, Philippe Wenger, Damien Chablat
发表信息：
8th International Symposium on Advances in Robot Kinematics (2002) 1-11
Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple two-degree-of-freedom PKM dedicated to machining applications is led through this method: the common desired properties are the largest square Cartesian workspace for given kinetostatic performances. The orientation and position of the Cartesian workspace are chosen to avoid singularities and to produce the best ratio between Cartesian workspace size and mechanism size. The machine size of each resulting design is used as a comparative criterion.
A New Concept of Modular Parallel Mechanism for Machining Applications
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）
A Comparative Study of Parallel Kinematic Architectures for Machining Applications
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；Université Laval（拉瓦尔大学）；CNRS（法国国家科学研究中心）；École Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；École des Mines de Nantes（南特矿业学院）
Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；Ecole Centrale de Nantes（南特中央理工学院）；Ecole des Mines de Nantes（南特矿业学院）；Université de Nantes（南特大学）
An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）；CNRS（法国国家科学研究中心）；INRIA Sophia-Antipolis（法国国家信息与自动化研究所索菲亚-安提波利斯分部）
In this paper, a method to mimic a human face and eyes is proposed which can be regarded as a combination of computer vision techniques and neural network concepts. From a mechanical standpoint, a 3-DOF spherical parallel robot is used which imitates the human head movement. In what concerns eye movement, a 2-DOF mechanism is attached to the end-effector of the 3-DOF spherical parallel mechanism. In order to have robust and reliable results for the imitation, meaningful information should be extracted from the face mesh for obtaining the pose of a face, i.e., the roll, yaw, and pitch angles. T…
NUS (Suzhou) Research Institute (NUSRI)（新加坡国立大学（苏州）研究院（NUSRI））
Gastrointestinal endoscopic surgery (GES) has high requirements for instruments' size and distal dexterity, because of the narrow endoscopic channel and long, tortuous human gastrointestinal tract. This paper utilized Nickel-Titanium (NiTi) wires to develop a miniature 3-DoF (pitch-yaw-translation) flexible parallel robotic wrist (FPRW). Additionally, we assembled an electric knife on the wrist's connection interface and then teleoperated it to perform an endoscopic submucosal dissection (ESD) on porcine stomachs. The effective performance in each ESD workflow proves that the designed FPRW has…
National University of Singapore (NUS)（新加坡国立大学）；Advanced Robotics Center (ARC) at NUS（新加坡国立大学先进机器人中心）
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the shoulder must be able to emulate its complex kinematics. While typical architectures have proven to be useful, they employ complex and usually inadequate techniques to match the mobility of the shoulder. A new 2-DOF soft robotic shoulder exoskeleton is presented. Modular soft robotic actuators with separated inflation modules on the exoskeleton are able to …
Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；École Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；École des Mines de Nantes（南特矿业学院）
We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication are not well suited for designing small robotic devices because it is challenging and expensive to manufacture small, low-friction joints. Our device uses origami manufacturing principles to reduce complexity and the device footprint. We characterize the bandwidth, workspace, and force outp…
In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new module which has two degrees of freedom is introduced. By connecting the two and three modules in series, 4 and 6 DoF hybrid manipulators can be formed respectively. By erecting 3 modules in parallel and with some minor modifications, a 6 DoF parallel manipulator can be formed. Hence the manipulator is reconfigurable and can be used as hybrid or parallel manipul…
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing…
Laboratoire des Sciences du Numérique de Nantes (LS2N)（南特数字科学实验室（LS2N））；Centre National de la Recherche Scientifique (CNRS)（法国国家科学研究中心（CNRS））；Université Laval（拉瓦尔大学）；École Centrale de Nantes（南特中央理工学院）
Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their orientation workspace is usually limited due to cable/cable and cable/moving platform collisions. This paper deals with the design, modelling and prototyping of a hybrid robot. This robot, which is composed of a CDPR mounted in series with a Parallel Spherical Wrist (PSW), has both a large translational workspace and an unlimited orientation workspace. It sho…
Inertial Line-Of-Sight Stabilization Using a 3-DOF Spherical Parallel Manipulator with Coaxial Input Shafts
Safran Electronics & Defense（赛峰电子与防务公司）；Sorbonne Université（索邦大学）；Université de Paris Cité（巴黎西岱大学）；Inria Paris（法国国家信息与自动化研究所巴黎分部）；Nantes Université（南特大学）；École Centrale Nantes（南特中央理工学院）；CNRS（法国国家科学研究中心）
本文研究使用3-RRR Spherical Parallel Manipulator 实现惯性 Line Of Sight 稳定，通过运动学分析确保奇异轨迹远离工作空间，并基于 MATLAB Simulink 与 SimMechanics 模型实施控制策略以稳定视线。
Universität Bremen - AG Robotik（不来梅大学 - 机器人工作组）；DFKI Bremen - Robotics Innovation Center（德国人工智能研究中心不来梅分所 - 机器人创新中心）；Johannes Kepler University, Linz（约翰内斯·开普勒大学林茨）
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are presented and a comparative overview is drawn. Accordingly, a general stiffness formulation in task space of all mechanisms is given. Under fixed geometric parameters, optimization of task space stiffness is carried out on the designs comprising all kinematic solutions. Finally, a stiffness metric is introduced that allows a quantitative comparison of the given …
Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide
Belarusian State University of Informatics and Radioelectronics（白俄罗斯信息与无线电电子大学）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）
Changzhou University（常州大学）；Nanjing Vocational Institute of Mechatronic Technology（南京机电职业技术学院）；Dalian University of Technology（大连理工大学）；Laboratoire des Sciences du Numérique de Nantes (LS2N)（南特数字科学实验室）
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed of lower-mobility joints and actuated prismatic joints, together with the investigations on three kinematic issues of importance. The first aspect pertains to geometric modeling of the TPM in connection with its topological characteristics, such as the POC, degree of freedom and coupling degree, from which its symbolic direct kinemati…
The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；École Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；École des Mines de Nantes（南特矿业学院）
Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms
Belarusian State University of Informatics and Radioelectronics（白俄罗斯信息与无线电电子大学）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；École Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；École des Mines de Nantes（南特矿业学院）
Rainbow Deep Q-Learning with Kinematics-Aware Design for Cooperative Delta and 3-RRS Parallel Robot Insertion
Robotics Research Center of Yuyao（余姚机器人研究中心）；Robotics Institute of Zhejiang University（浙江大学机器人院）；Yuyao Technology Innovation Center（余姚技术创新中心）；Department of Electrical and Computer Engineering, University of New Brunswick（新 Brunswick大学电气与计算机工程系）
Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances
Belarusian State University of Informatics and Radioelectronics（白俄罗斯信息与无线电电子大学）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）
Changzhou University（常州大学）；CNRS（法国国家科学研究中心）；Dalian University of Technology（大连理工大学）
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. Firstly, the main topological characteristics, such as the POC, degree of freedom and coupling degree were calculated for kinematic modeling. Thanks to these properties, the dire…
Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery
Technical University of Cluj-Napoca（克卢日-纳波卡技术大学）；Technical Sciences Academy of Romania（罗马尼亚技术科学院）；École Centrale Nantes（南特中央理工学校）；Nantes Université（南特大学）；CNRS（法国国家科学研究中心）
