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Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 3,   Pages 368-375 doi: 10.1007/s11465-018-0519-5

Abstract:

A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study.This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanismThis novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPSRPS parallel mechanism.

Keywords： 3-RPS parallel mechanism     forward kinematics     numerical algorithm     parasitic motion    

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Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive Article

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 3,   Pages 303-316 doi: 10.1631/FITEE.1500353

Abstract: A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed.

Keywords： Parameter initialization     Adaptive robust control     Parallel mechanism     Pneumatic cylinders    

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Self-motions of 3-RPS manipulators

Josef SCHADLBAUER, Manfred L. HUSTY, Stéphane CARO, Philippe WENGERY

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 62-69 doi: 10.1007/s11465-013-0366-3

Abstract:

Recently a complete kinematic description of the 3-RPS parallel manipulator was obtained using algebraic

Keywords： 3-RPS-manipulator     singularity     self-motion    

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A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4,   Pages 340-349 doi: 10.1007/s11465-013-0282-6

Abstract:

A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper.The rolling mechanism is composed of two platforms connected by three UPU (universal-prismatic-universalThe degree-of-freedom of the mechanism is analyzed using screw theory.Four rolling modes of the mechanism are discussed and simulated.The feasibility of the rolling mechanism is verified by means of a physical prototype.

Keywords： parallel mechanism     rolling mechanism     screw theory    

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Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 210-218 doi: 10.1007/s11465-012-0317-4

Abstract:

Based on the prototype of 3-UPU (universal-prismatic-universal joint) parallel mechanism proposedrotation evaluation is performed and calculated the bound of instability of SNU Seoul National University 3-UPU parallel mechanism.Through analysis of the terminal constraint system of the 3-UPU parallel mechanism, the equation aboutWith the practice experiment result of SUN 3-UPU parallel mechanism, we find it’s bound of instability

Keywords： parallel mechanism     3-UPU (universal-prismatic-universal joint)     parasitic motions     limited clearance     redundantly    

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A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 7-19 doi: 10.1007/s11465-015-0324-3

Abstract:

In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed

Keywords： parallel mechanism     concomitant motions     kinematics     workspaces     error model    

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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 451-467 doi: 10.1007/s11465-021-0634-6

Abstract: A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of

Keywords： redundant actuation     parallel manipulator     linkage–cam mechanism     Jacobian     optimal design    

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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 765-781 doi: 10.1007/s11465-021-0655-1

Abstract: Generalized parallel mechanisms with a configurable moving platform have become popular in the researchfield of parallel mechanism.translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallelA kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.

Keywords： generalized parallel mechanism     configurable moving platform     gripper mechanism     type synthesis     kinematic    

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Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

S. SHANKAR GANESH,A. B. KOTESWARA RAO

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 2,   Pages 120-129 doi: 10.1007/s11465-014-0300-3

Abstract:

In this paper, error modeling and analysis of a typical 3-degree of freedom translational ParallelThis mechanism provides translational motion along the Cartesian X-, Y- and  X, Y and Z directions for a set of dimensions of the parallelAn attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithmsmethodology presented and the results obtained are useful for predicting the performance capability of the Parallel

Keywords： translational Parallel Kinematic Machine     error modeling     global error transformation index    

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract: The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel

Keywords： feasibility study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism     3-UPU parallel manipulator    

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Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 82-88 doi: 10.1007/s11465-007-0014-x

Abstract: The variables of the main module of a servo system for miniature reconfigurable parallel mechanism were

Keywords： acceleration     reconfigurable parallel     additive     sequence     parallel mechanism    

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Design, analysis, and neural control of a bionic parallel mechanism

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 468-486 doi: 10.1007/s11465-021-0640-8

Abstract: In this paper, a parallel mechanism is designed as a bionic torso to improve the agility, coordinationThe mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate theThe overall spatial motion performance of the parallel mechanism is improved by optimizing the structuralBased on this structure, the rhythmic motion of the parallel mechanism is obtained by supporting statemerges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism

Keywords： neural control     behavior network     rhythm     motion pattern    

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Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 4,   Pages 379-385 doi: 10.1007/s11465-009-0075-0

Abstract: Singularity analysis plays an important role in the design of robots, especially for parallel robots.In this paper, the direct and inverse kinematics of an orthogonal spherical two-degree-of-freedom parallelmechanism is proposed based on the modified Euler angles.All the singular poses of the mechanism are achieved through the direct kinematic analysis.Self-motions, which are different from the general spherical 5 parallel mechanisms, are also discussed

Keywords： 2-DOF orthogonal spherical parallel mechanism     singularity loci     self-motions    

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Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0695-1

Abstract: This study presents a family of novel translational parallel mechanisms (TPMs) with single-loop topologicalThe proposed mechanism consists of only revolute and prismatic joints.The workspace of the 3-CRR (C denotes the cylindrical joint and R denotes the revolute joint) translationalmechanism is also presented to prove that the proposed TPM has a fairly large workspace.

Keywords： translational parallel mechanism     single loop     multiple driving system     workspace analysis     singularity    

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Stiffness of a 3-degree of freedom translational parallel kinematic machine

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 3,   Pages 233-241 doi: 10.1007/s11465-014-0312-z

Abstract:

In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machineFor various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum

Keywords： 3-DOF translational PKM     inverse kinematics     stiffness modeling     translational stiffness    

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Title Author Date Type Operation

Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

Journal Article

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

Journal Article

Self-motions of 3-RPS manipulators

Josef SCHADLBAUER, Manfred L. HUSTY, Stéphane CARO, Philippe WENGERY

Journal Article

A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Journal Article

Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Journal Article

A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

Journal Article

Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Journal Article

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

Journal Article

Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

S. SHANKAR GANESH,A. B. KOTESWARA RAO

Journal Article

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

Journal Article

Design, analysis, and neural control of a bionic parallel mechanism

Journal Article

Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Journal Article

Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

Journal Article

Stiffness of a 3-degree of freedom translational parallel kinematic machine

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Journal Article