Mechanism and actuation hybridization for a four degrees-of-freedom parallel manipulator
Source abstract
Abstract
Performance is paramount to parallel manipulators. Improving the overall performance of parallel manipulator is the bridge to connect the academia and industry for the great development and real-world application of parallel manipulators. For the past research, scholars put more emphasis on optimizing the performance of parallel manipulators in different aspects, e.g. dimensional optimization, error calibration, trajectory planning. This research, a methodology which is called as System Hybridization is proposed to manage the performance of parallel manipulator in a higher level. Through a systematic method, the global capabilities of parallel manipulator can be significantly improved. A case study of a four degrees-of-freedom (DOF) parallel manipulator is proposed to well explain the proposed paradigm in the way of Mechanism Hybridization and Actuation Hybridization. It demonstrates that the hybrid actuation based on hybrid mechanism performs better than the mechanism with the identical actuators in term of stiffness in the main directions, which proves the proposed method is meaningful to improve the performance of parallel manipulator.
Source: openaire · Quality: candidate unverified · Source record ↗
Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Iterative Learning Control Systems · Advanced machining processes and optimization
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
References (24)
Show source-provided references
1. Axinte, D.A., Allen, J.M., Anderson, R., Dane, I., Uriarte, L., Olara, A.: Free-leg Hexapod: a novel approach of using parallel kinematic platforms for developing miniature machine tools for special purpose operations. Ann. CIRP 60(1), 395–398 (2011)10.1016/j.cirp.2011.03.024 ↗
2. Carricato, M.: Direct geometrico-static problem of underconstrained cable-driven parallel robots with three cables. ASME Trans. J. Mech. Robotics 5(3), 031008 (2013)10.1115/1.4024293 ↗
3. Carricato, M., Merlet, J.P.: Stability analysis of underconstrained cable-driven parallel robots. IEEE Trans. Robotics 29(1), 288–296 (2013)10.1109/TRO.2012.2217795 ↗
4. Gallardo-Alvarado, J.: A simple method to solve the forward displacement analysis of the general six-legged parallel manipulator. Robotics Comput.-Integr. Manuf. 30(1), 55–61 (2014)10.1016/j.rcim.2013.09.001 ↗
5. Gao, Z., Zhang, D., Ge, Y.J.: Design optimization of spatial six degree-of-freedom parallel manipulator based on artificial intelligence approaches. Robotics Comput. Integr. Manuf. 26(2), 180–189 (2010a)10.1016/j.rcim.2009.07.002 ↗
6. Gao, Z., Zhang, D., Hu, X.L., Ge, Y.J.: Design, analysis and stiffness optimization of a three-degree-of-freedom parallel manipulator. Robotica 28, 349–357 (2010b)10.1017/S0263574709005657 ↗
7. Hou, Y.L., Zeng, D.X., Yao, J.T., Kang, K.J., Lu, L., Zhao, Y.S.: Optimal design of a hyperstatic Stewart platform-based force/torque sensor with genetic algorithms. Mechatronics 19, 199–204 (2009)10.1016/j.mechatronics.2008.08.002 ↗
8. Jensen, K.A., Lusk, C.P., Howell, L.L.: An XYZ micromanipulator with three translational degrees of freedom. Robotica 24(3), 305–314 (2006)10.1017/S0263574705002134 ↗
9. Kima, G.S., Shina, H.J., Yoon, J.W.: Development of 6-axis force/moment sensor for a humanoid robot’s intelligent foot. Sens. Actuators A 141(2), 276–281 (2008)10.1016/j.sna.2007.08.011 ↗
10. Kucuk, S.: Energy minimization for 3-RRR fully planar parallel manipulator using particle swarm optimization. Mech. Mach. Theory 62, 129–149 (2013)10.1016/j.mechmachtheory.2012.11.010 ↗
11. Liu, D., Xu, Y., Fei, R.: Study of an intelligent micro-manipulator. J. Mater. Process. Technol. 139, 77–80 (2003)10.1016/S0924-0136(03)00185-7 ↗
12. Patchaikani, P., Behera, L., Prasad, G.: A single network adaptive critic based redundancy resolution scheme for robot manipulators. IEEE Trans. Ind. Electron. 59(8), 3241–3253 (2012)10.1109/TIE.2011.2143372 ↗
13. Portman, V., Sandler, B.Z., Chapsky, V., Zilberman, I.: A 6-DOF isotropic measuring system for force and torque components of drag for use in wind tunnels. Int. J. Mech. Mater. Des. 5(4), 337–352 (2009)10.1007/s10999-009-9106-6 ↗
14. Refaat, S., Herve, J.M., Nahavandi, S.: Two-mode overconstrained three-DOFs rotational translational linear motor based parallel-kinematics mechanism for machine tool applications. Robotica 25, 461–466 (2007)10.1017/S0263574706003286 ↗
15. Taghirad, H.D., Bedoustani, Y.B.: An analytic-iterative redundancy resolution scheme for cable-driven redundant parallel manipulators. IEEE Trans. Robotics 27(6), 1137–1143 (2011)10.1109/TRO.2011.2163433 ↗
16. Uriarte, L., Zatarain, M., Axinte, D., Yagüe-Fabra, J., Ihlenfeldt, S., Eguia, J., Olarra, A.: Machine tools for large parts. Ann. CIRP 62(2), 731–750 (2013)10.1016/j.cirp.2013.05.009 ↗
17. Wang, C., Fang, Y., Guo, S., Chen, Y.: Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation. ASME Transaction, Journal of Mechanisms and Robotics 5, 041003 (2013)10.1115/1.4024736 ↗
18. Wu, P., Xiong, H., Kong, J.: Dynamic analysis of 6-SPS parallel mechanism. Int. J. Mech. Mater. Des. 8(2), 121–128 (2012)10.1007/s10999-012-9181-y ↗
19. Zeng, Q., Ehmann, K.F.: Design of parallel hybrid-loop manipulators with kinematotropic property and deployability. Mech. Mach. Theory 71, 1–26 (2014)10.1016/j.mechmachtheory.2013.08.017 ↗
20. Zhang, D., Gao, Z.: Optimal kinematic calibration of parallel manipulators with pseudoerror theory and cooperative coevolutionary network. IEEE Trans. Ind. Electron. 59(8), 3221–3231 (2012a)10.1109/TIE.2011.2166229 ↗
21. Zhang, D., Gao, Z.: Forward Kinematics, Performance Analysis, and Multi-Objective Optimization of a Bio-Inspired Parallel Manipulator. Robotics Comput.-Integr. Manuf. 28(4), 484–492 (2012b)10.1016/j.rcim.2012.01.003 ↗
22. Zhang, D., Gao, Z., Fassi, I.: Design optimization of a spatial hybrid mechanism for micromanipulation. Int. J. Mech. Mater. Des. 7(1), 55–70 (2011)10.1007/s10999-011-9149-3 ↗
23. Zhang, D., Su, X., Gao, Z., Qian, J.: Design, analysis and fabrication of a novel three degrees of freedom parallel robotic manipulator with decoupled motions. Int. J. Mech. Mater. Des. 9(3), 199–212 (2013)10.1007/s10999-012-9209-3 ↗
24. Zhang, W.J., Ouyang, P.R., Sun, Z.H.: A novel hybridization design principle for intelligent mechatronics systems. In: International Conference on Advanced Mechatronics (ICAM 2010), Suita, Osaka (2010)10.1299/jsmeicam.2010.5.67 ↗