This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the machining are defined. In this case, optimal synthesis task is solved as a multicriterion optimization problem with respect to the geometric, kinematic, kinetostatic, elastostostatic, dynamic properties. It is shown that stiffness is an important performance factor. Previous models operate with links approximation and calculate stiffness matrix in the neighborhood of initial point. This is a reason why a new way for stiffness matrix calculation is proposed. This method is illustrated in a concrete industrial problem.
Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model
Ecole des Mines de Nantes（南特矿业学院）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；French National Centre for Scientific Research（法国国家科学研究中心）；University of Nantes（南特大学）
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…
Arizona State University（亚利桑那州立大学）；Fulton Schools of Engineering（富尔顿工程学院）；The Polytechnic School（理工学院）
This paper evaluates how laminated techniques may be used to replicate the performance of more traditionally manufactured robotic manipulators. In this case study, we introduce a laminated 2-DOF spherical, parallel manipulator. Taking advantage of laminating techniques in the construction of the robot can result in considerable saving in construction costs and time, but, the challenges caused by this technique have to be addressed. By using stiffer materials in rigid links, the rigidity of the robot is increased to an acceptable level. We discuss one method for compensating position uncertaint…
Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；Belarusian State University of Informatics and Radioelectronics（白俄罗斯信息与无线电电子大学）
Innopolis University（因诺波利斯大学）；Centre National de la Recherche Scientifique (CNRS)（法国国家科学研究中心）；Le Laboratoire des Sciences du Numérique de Nantes (LS2N)（南特数字科学实验室）；IMT Atlantique（大西洋国立高等工业技术与矿业学校）
The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of flexible and rigid links connected by rigid, passive or elastic joints with multiple external loadings. The manipulator stiffness model is presented as a set of basic equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. These equations are aggregated straightforwardly in a common linear syst…
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）
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a passive revolute joint and actuated by a linear hydraulic actuator, thus forming a closed kinematic loop. In addition, prismatic segments, consisting of prismatic joints driven by hydraulic linear actuators, also are considered. Expressions for actuator forces are derived using the Newton$-$Euler (N$-$E) dynamics formulation. The derivation process does not assum…
Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators
Institut de Robòtica i Informàtica Industrial, CSIC - UPC（工业机器人与信息学研究所，西班牙国家研究委员会-加泰罗尼亚理工大学）；INRIA Nancy-Grand Est（法国国家信息与自动化研究所南锡-大东部研究中心）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；INRIA Paris-Rocquencourt（法国国家信息与自动化研究所巴黎-罗克库尔研究中心）；Université Pierre et Marie Curie Paris VI（巴黎第六大学皮埃尔和玛丽·居里大学）
This paper introduces a new surgical end-effector probe, which allows to accurately apply a contact force on a tissue, while at the same time allowing for high resolution and highly repeatable probe movement. These are achieved by implementing a cable-driven parallel manipulator arrangement, which is deployed at the distal-end of a robotic instrument. The combination of the offered qualities can be advantageous in several ways, with possible applications including: large area endomicroscopy and multi-spectral imaging, micro-surgery, tissue palpation, safe energy-based and conventional tissue r…
Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
Robotics Innovation Center, DFKI GmbH（DFKI机器人创新中心）；Dynamics Division, Department of Mechanics & Maritime Sciences, Chalmers University of Technology（楚基姆斯理工大学机械与航海科学系动力分部）；AG Robotik, University of Bremen（不莱梅大学机器人技术研究所）
The direct kinematics analysis is the foundation of implementation of real world application of parallel manipulators. For most parallel manipulators the direct kinematics is challenging. In this paper, for the first time a fast and efficient Homotopy Continuation Method, called the Ostrowski Homotopy continuation method has been implemented to solve the direct and inverse kinematics problem of the parallel manipulators. This method has advantage over conventional numerical iteration methods, which is not rely on the initial values and is more efficient than other continuation method and it ca…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated mixed kinematic systems. This paper also presents a methodology for optimizing poses. In order to accomplish this with the Assembler system, an algorithm for finding a feasible solution to its inverse kinematics was developed with a wrapper for a nonlinear optimization algorithm designed to minimize the magnitude of forces incurred by each actuator. A simulate…
We study determining the posture of an in-parallel planar manipulator, which has three connectors composed of revolute, prismatic and revolute joints, from specified active joint variables. We construct an ideal in the field of complex numbers, and we introduce self inversive polynomials. We provide results for an in-parallel planar manipulator, which has a base and moving platform in right triangular shape. Using Sage computer algebra system, we compute its Groebner bases. We illustrate that the single variable polynomials obtained from the Groebner bases are self reciprocal.
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…
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）
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in fact, industrial robots are the exceptions. Some robots appeared recently in the industrial market can be shown to be cuspidal but, surprisingly, almost nobody knows it and robot users meet difficulties in planning trajectories with these robots. This paper proposes a review on the fundamental and application aspects of cuspidal robots. It addresses the importan…
