Showing 1-25 of 6,916 resultsfor "Index Terms":Parallel Mechanism
"Index Terms":Parallel Mechanism
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Study on the Method of Parallel Robot Mechanism Modeling in Parallel
2012 International Conference on Computer Science and Electronics Engineering
Year: 2012 | Conference Paper |
The modeling method of parallel robot mechanism has been extensively studied based on the Single Open Chain theory (SOC) in this paper. According to the characteristics of the parallel robot mechanism's, ideas and general methods of parallel robot mechanism modeling in parallel has been proposed and typical parallel robot mechanism's modeling has been performed. Study shows that the parallel model...Show More
Design and Analysis of Multi-DOF Adsorption Parallel Robot Based on Hybrid Mechanism
Kefeng Ye;Zhenya He;Guojian Huang;Xianmin Zhang;Haolun Yuan;Liang Wang
2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2021 | Conference Paper |
Cited by: Papers (1)
At present, the machining or reparation of large parts is a huge challenge. The existing method is to disassemble large parts for machining in sections or use a mobile robotic arm for machining. However, these methods have some disadvantages, such as occupying large area or insufficient rigidity, high cost in actual operation, and low quality stability. Therefore, this paper focuses on design and ...Show More
Kinematic Performance Analysis on a New Spatial Rotation 3-DOFs Parallel Robot Mechanism
2009 Third International Symposium on Intelligent Information Technology Application
Year: 2009 | Conference Paper |
Cited by: Papers (5)
In this paper, kinematic performance of a new spatial rotation 4-SPS-1-S parallel robot mechanism is investigated. The 4-SPS-S parallel robot mechanism has spatial three pure rotation degrees of freedom, it can achieve spatial roll, pitch and yaw rotation movements, and possesses high bearing capacity, stiffness and stability. Inverse position analysis and velocity mapping equation is established ...Show More
Structure and Kinematics Decoupling Analysis of a Novel 3D Translations Spatial Parallel Robot Mechanism
2009 International Conference on Artificial Intelligence and Computational Intelligence
Year: 2009 | Conference Paper |
In this paper, a novel spatial parallel robot mechanism that can carry out three-dimensional translations was proposed. Based on topology structure design theory of robot mechanism, the structure and motion output were analyzed. The DOF and the coupling coefficient were calculated. According to the characteristics of the mechanism, the forward and inverse position models of mechanism were presente...Show More
Comparison of Two Kinds of Large Displacement Precision Parallel Mechanisms for Micro/nano Positioning Applications
2008 IEEE Conference on Robotics, Automation and Mechatronics
Year: 2008 | Conference Paper |
Cited by: Papers (2)
This paper presents kinematic analysis of two kinds of large displacement parallel platforms for micro/nano positioning applications. The kinematics model of the dual parallel mechanism systems is established via the stiffness model of individual wide-range flexure hinge. The displacements of the end platform and the input parameters of prismatic actuators are discussed and the corrected values of...Show More
Design of reactionless 3-DOF and 6-DOF parallel manipulators using parallelepiped mechanisms
In this paper, the design of reactionless 3-degree-of-freedom (DOF) and 6-DOF parallel manipulators is presented. At first, the design and dynamic balancing of a novel 3-DOF parallel mechanism referred to as the parallelepiped mechanism are addressed. Two types of actuation schemes of the mechanism are considered, and the two corresponding mechanical structures are designed. The balancing equation...Show More
A Novel Four-DOF Parallel Manipulator Mechanism and Its Kinematics
2006 IEEE Conference on Robotics, Automation and Mechatronics
Year: 2006 | Conference Paper |
Cited by: Papers (6)
A novel 4-UPU parallel manipulator mechanism that can perform three-dimensional translations and rotation about Z axis is presented. The principle that the mechanism can perform the above motions is analyzed based on the screw theory, the mobility of the mechanism is calculated, and the rationality of the chosen input joints is discussed. The forward and inverse position kinematics solutions of th...Show More
Modelling and development of dynamic simulator for flexible parallel manipulator
2009 IEEE International Conference on Control and Automation
Year: 2009 | Conference Paper |
This paper presents a dynamic simulator of a 2-DOF planar parallel manipulator with flexible links. The motivation of the work is to simplify the integrated design optimization framework for complex mechatronics system. Finite element modeling has been identified as the method to provide more accurate dynamic modeling of complex geometrical structures. However, the mere size of the multi-dimension...Show More
Optimum Motion Planning of Parallel Redundant Mechanisms with Shaking Force Reduction
The Proceedings of the Multiconference on "Computational Engineering in Systems Applications"
Year: 2006 | Conference Paper |
The parallel mechanisms are fit for high speed and precise manipulation for the favorable structural rigidity, whereas they reveal some defaults such as a smaller workspace and challengeable for motion planning and control at the same time. For the sake of improving the dynamic performance of the parallel mechanisms, the redundant parallel mechanism is studied kinematically. The reasons of shaking...Show More
Developing a Hybrid Cartesian Parallel Manipulator for Knee Surgery
2006 IEEE Conference on Robotics, Automation and Mechatronics
Year: 2006 | Conference Paper |
Cited by: Papers (2)
In this paper, we use Cartesian parallel mechanism (CPM) as the key module of the constructed knee surgical robot. In the constructed robot, the limited workspace and high rigidity of Cartesian parallel manipulator provide the surgical robot with enhanced safety and high cutting accuracy. The complex kinematics of parallel manipulators is also avoided because of the decoupled feature of the CPM. T...Show More
Equilibrium Configurations of a Planar 3-DOF Parallel Robot with Flexible Joints
2006 6th World Congress on Intelligent Control and Automation
Year: 2006 | Conference Paper |
All previous research on design of parallel robots relates to analyzing and optimizing the kinematic geometry without regard to the equilibrium configurations of the parallel robot with flexural pivots once the external load is assigned. This article addresses the equilibrium configurations of a planar 3-dof parallel robot with flexural pivots. A system of four coupled transcendental equations wit...Show More
Development of Precision Robot Manipulator using Flexure Hinge Mechanism
2006 IEEE Conference on Robotics, Automation and Mechatronics
Year: 2006 | Conference Paper |
Cited by: Papers (8)
This paper describes a tentative results obtained on the way of developing the nano order precision robot that works with the resolution of 10nm or less. For precision positioning of robot manipulator, we adopt the flexure hinge mechanism composed with notches and holes that allows high stiffness and easy applications to construct the parallel manipulator. As a hardware for in plane motion of mani...Show More
Hyper-chaotic Finding Method of Forward Displacement Analysis of 4-DOF Parallel Manipulator
2009 Third International Symposium on Intelligent Information Technology Application
Year: 2009 | Conference Paper |
The position forward kinematics of mechanism is the basis of mechanism design. The position analysis problem can be transformed into nonlinear equations to be found. Newton iterative method is an important technique to one dimensional and multidimensional variables and iterative process exhibits sensitive dependence on initial guess point. In this paper, position analysis equations of 4-RPTR paral...Show More
Topological design of the 5-DOF parallel-wrist manipulator with a constraining mechanism
2007 International Conference on Control, Automation and Systems
Year: 2007 | Conference Paper |
This research studies on topological design the robot manipulator combined a 3-DOF parallel manipulator and a 2-DOF wrist manipulator (PMWM). The robot has a parallel manipulator with three links and a central link for positional motions, i.e., x, y, and z and a wrist manipulator with two rotary active joints for rotational motions, i.e., yaw and pitch. The proposed parallel-serial typed manipulat...Show More
Kinematic analysis on a take-and-place parallel mechanism
2010 International Conference on Mechanic Automation and Control Engineering
Year: 2010 | Conference Paper |
A take-and-place mechiansm is presented here. A study on kinematic problems of the mechanism is put forward and the inverse and direct solutions are obtained; the direct kinematic's resultant equation is an 8th order polynomial. Unique solution of the inverse kinematic problem is achieved, and then a numerical example is brought forward to verify forward and inverse kinematic analysis, in all of t...Show More
A Family of Novel 2 DOF Rotational Decoupled Parallel Mechanisms
2007 International Conference on Mechatronics and Automation
Year: 2007 | Conference Paper |
Cited by: Papers (8)
This paper presents a family of novel 2 degree of freedom (DOF) rotational decoupled parallel mechanisms(DPMs). The basic feature of this family is that the moving platform and the fixed base of the DPMs are connected by three limbs, also the motion of the moving platform is decoupled, besides the first and second limbs structure a four-bar linkage or guide bar mechanism. Then we take the UPRUSPS ...Show More
Mapping OpenMP concepts to the stream programming model
2010 5th International Conference on Computer Science & Education
Year: 2010 | Conference Paper |
Cited by: Papers (3)
OpenMP is a widely used parallel programming model on traditional multi-core processors. Generally, OpenMP is used to develop fine-grained parallelism through a multi-thread model. Stream programming model is a new kind of parallel programming model for stream architectures. OpenMP bears a resemblance to the stream programming model at some level. The transformation between the two models has attr...Show More
Study on Stiffness Modeling and Performance of Spatial Rotation 4-SPS-S Parallel Robot Mechanism
2009 Third International Symposium on Intelligent Information Technology Application
Year: 2009 | Conference Paper |
The paper focuses on a spatial rotation three Degree of Freedom (DOF) 4-SPS-S parallel robot mechanism, which has four SPS Active Legs and one passive constraining leg. The geometric model of the parallel robot mechanism is introduced, and then velocity mapping equation and Jacobian matrix for the robot mechanism are developed. Based on principle of virtual work and sub-structure synthesis method,...Show More
Type synthesis of overconstrained dual parallel mechanisms with three and four degrees of freedom
2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots
Year: 2009 | Conference Paper |
Dual parallel mechanism as a novel accurate positioning device with large workspace is promising in the field of macro/micro manipulator. To construct spatial dual parallel mechanisms for given tasks, a mechanics definition and a systematic procedure for the synthesis of the overconstrained dual parallel mechanisms based on the screw theory are presented. As examples, the synthesis procedures of 3...Show More
New Parallel Robot Mechanisms Based on Chain RPC, PRS and CPS
2009 International Conference on Artificial Intelligence and Computational Intelligence
Year: 2009 | Conference Paper |
Cited by: Papers (1)
Constraint screw and DOF to single opened chain PRC, RPS and CPS were analyzed, type synthesis to lower-mobility parallel robot mechanisms based on single-opened-chain RPC, RPS and CPS were carried out by screw theory and single-opened-chain type synthesis method. As a result, some new-style parallel robot mechanisms with three, four or five DOF were presented. By analyzing the kinematic output ch...Show More
Design and Kinematics Analysis of a Novel Uncoupled Two-Translational Parallel Robot Mechanism
2021 3rd International Conference on Robotics and Computer Vision (ICRCV)
Year: 2021 | Conference Paper |
Cited by: Papers (1)
The paper presents a novel uncoupled two-translational parallel robot mechanism, which includes three branch chains. The first and the second branch chains, called the actuated branches, have the same structure, i.e. RUPR-type. The third branch chain, called a pure constraint branch, is only composed of three revolute joints whose axes are with parallel to each other. Degree of freedom (DOF) and o...Show More
Research on robot mechanism type synthesis by degree of freedoms method
2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)
Year: 2010 | Conference Paper |
Cited by: Papers (1)
Type synthesis of robot mechanism is an important and complicated research field. There are many type synthesis methods at present and different method is fit for different type of robot mechanism. This paper studies all kind of the degree of freedoms (DOF) for robot mechanism. Three DOFs including I-DOF, M-DOF and E-DOF are summarized and used to appraise characteristics and type for a given robo...Show More
Singularity-Free Kinematically Redundant Planar Parallel Mechanisms With Unlimited Rotational Capability
IEEE Transactions on Robotics
Cited by: Papers (96)
This paper introduces a novel family of singularity-free kinematically redundant planar parallel mechanisms that have unlimited rotational capabilities. The proposed mechanisms are akin to conventional three-degree-of-freedom planar parallel mechanisms. By introducing a novel kinematically redundant arrangement, four-degree-of-freedom parallel mechanisms are obtained that can completely alleviate ...Show More
Direct Kinematics and Analytical Solution to 3RRR Parallel Planar Mechanisms
2006 9th International Conference on Control, Automation, Robotics and Vision
Year: 2006 | Conference Paper |
Cited by: Papers (15)
This paper presents the direct kinematic solutions to 3DOF planar parallel mechanisms. Efforts to solve the direct kinematics of planar parallel mechanisms have concentrated on RPR mechanisms due to its inherent simplicity. It is established that the direct kinematic equations of a general 3DOF planar parallel mechanism can be reduced to a univariate polynomial of degree 8. This paper presents the...Show More
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