Hostname: page-component-cd9895bd7-q99xh Total loading time: 0 Render date: 2024-12-24T01:29:32.807Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamics analysis of novel hybrid robotic arm with three fingers

Published online by Cambridge University Press:  28 May 2015

Yi Lu ,
Zhuohong Dai  and
Nijia Ye
Yi Lu*
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China Parallel robot and mechatronic system laboratory of Hebei province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, College of Mechanical Engineering, Yanshan University, Qinhuangdao, 6 Hebei, 066004, P. R. China
Zhuohong Dai
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
Nijia Ye
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

A novel hybrid robotic arm with three fingers is proposed for assembly, operation and rescue. It is composed of an upper 3RPS-type parallel manipulator, a lower 3SPR-type parallel manipulator and three fingers. Its dynamics are studied and analyzed systematically. First, the kinematics formulae of the moving links at their mass centers in the hybrid robotic arm with three fingers are established. Second, the formulae for solving the inertial wrench of the moving links at their mass centers are derived. Third, a dynamics formula is established for solving the dynamic active/constrained forces of the hybrid robotic arm and the fingers. Finally, an analytic example is given for solving the kinematics and dynamics of the hybrid robotic arm with three fingers and the analytic solved solutions are verified by a simulation mechanism.

Keywords

Hybrid robotic armFingerDynamics
Type
Articles
Information
Robotica , Volume 34 , Issue 12 , December 2016 , pp. 2759 - 2775
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Angeles, J., Fundamentals of Mechanical Robotic Systems, 4th ed. (Springer International Publishing Switzerland 2014).CrossRefGoogle Scholar
2. Zacharias, F., Borst, C., Wolf, S. and Hirzinger, G., “The capability map: A tool to analyze robot arm workspaces,” Int. J. Humanoid Robot. 10 (4), 1350031 (2013), Wessling, Germany.Google Scholar
3. Roy, J., Goldberg, R. P. and Whitcomb, L. L., “Structural design, analysis, and performance evaluation of a new semi-direct drive robot arm: Theory and experiment,” IEEE/ASME Trans. Mechatronics 9 (1), 10–19 (2004).CrossRefGoogle Scholar
4. De Laurentis, K. and Mavroidis, C., “Rapid fabrication of a non-assembly robotic hand with embedded components,” Assem. Autom. 24 (4), 394–405 (2004).Google Scholar
5. Rustemli, S., Yilmaz, M. and Demirtas, M., “Ripple reduction at speed and torque of step motors used on a two-axis robot arm,” Robot. Comput.-Integr. Manuf. 26 (6), 759–767 (2010).CrossRefGoogle Scholar
6. Bahadir, M. C. and Satoglu, S. I., “A novel robot arm selection methodology based on axiomatic design principles. Int. J. Adv. Manuf. Technol. 71 (9–12), 2043–2057 (2014).Google Scholar
7. Crenganis, M., Chera, I. and Bologa, O., “The inverse kinematics of an anthropomorphic robot arm with seven degrees of freedom,” Acad. J. Manuf. Eng. 8 (2), 20–25 (2010).Google Scholar
8. Tsai, L. W., Robot Analysis: The Mechanics of Serial and Parallel Manipulators (John Wiley & Sons, New Jersey, 1999).Google Scholar
9. Yan, C., Gao, F. and Zhang, Y., “Kinematic modeling of a serial-parallel forging manipulator with application to heavy-duty manipulations,” Mech. Based Des. Struct. Mach. 38 (1), 105–129 (2010).Google Scholar
10. Carbone, G. and Ceccarelli, M., “A serial-parallel robotic architecture for surgical tasks,” Robotica 23 (3), 345–354 (2005).CrossRefGoogle Scholar
11. Romdhane, L., “Design and analysis of a hybrid serial–parallel manipulator,” Mech. Mach. Theory 34 (7), 1037–1055 (1999).CrossRefGoogle Scholar
12. Tanev, T. K., “Kinematics of a hybrid (parallel–serial) robot manipulator,” Mech. Mach. Theory 35 (9), 1183–1196 (2000).Google Scholar
13. Bandyopadhyay, S. and Ghosal, A., “Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices,” Mech. Mach. Theory 39 (12), 1289–1305 (2004).CrossRefGoogle Scholar
14. Zheng, X. Z., Bin, H. Z. and Luo, Y. G., “Kinematic analysis of a hybrid serial–parallel manipulator,” Int. J. Adv. Manuf. Technol. 23 (11–12), 925–930 (2004).Google Scholar
15. Cha, S. H., Lasky, T. A. and Velinsky, S. A., “Kinematic redundancy resolution for serial-parallel manipulators via local optimization including joint constraints,” Mech. Based Des. Struct. Mach. 34 (2), 213–239 (2006).CrossRefGoogle Scholar
16. Lu, Y. and Leinonen, T., “Solution and simulation of position-orientation for multi-spatial 3-RPS parallel mechanisms in series connection,” Multibody Syst. Dyn. 14 (1), 47–60 (2005).Google Scholar
17. Lu, Y., Hu, B. and Sun, T., “Analyses of velocity, acceleration, statics, and workspace of a 2(3-SPR) serial–parallel manipulator,” Robotica 27 (4), 529–538 (2009).Google Scholar
18. Gallardo-Alvarado, J., “Kinematics of a hybrid manipulator by means of screw theory,” Multibody Syst. Dyn. 14 (3–4), 345–366 (2005).Google Scholar
19. Moosavian, S. S. A. and Pourreza, A., “Heavy object manipulation by a hybrid serial-parallel mobile robot,” Int. J. Robot. Autom. 25 (2), 109–120 (2010).Google Scholar
20. Lee, M. K. and Park, K. W., “Kinematic and dynamic analysis of a double parallel manipulator for enlarging workspace and avoiding singularities,” IEEE Trans. Robot. Autom. 15 (6), 1024–1034 (1999).Google Scholar
21. Gallardo-Alvarado, J., Aguilar-Nájera, C., Casique-Rosas, L., Rico-Martínez, J. M. and Islam, M. N., “Kinematics and dynamics of 2(3-RPS) manipulators by means of screw theory and the principle of virtual work,” Mech. Mach. Theory 43 (10), 1281–1294 (2008).CrossRefGoogle Scholar
22. Wu, J., Wang, J. S., Li, T. M. and Wang, L. P., “Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool,” Int. J. Adv. Manuf. Technol. 34 (3–4), 413–420 (2007).Google Scholar
23. Sangveraphunsiri, V. and Chooprasird, K., “Dynamics and control of a 5-DOF manipulator based on an H-4 parallel mechanism,” Int. J. Adv. Manuf. Technol. 52 (1–4), 343–364 (2011).CrossRefGoogle Scholar
24. Carbone, G., Grasping in Robotics (Springer-Verlage London 2013).Google Scholar
25. Yan, C., Gao, F. and Guo, W., “Coordinated kinematic modelling for motion planning of heavy-duty manipulators in an integrated open-die forging centre,” Proc. Inst. Mech. Eng. B 223 (10), 1299–1313 (2009).Google Scholar
26. Xu, J. J., Koo, T. J. and Li, Z., “Sampling-based finger gaits planning for multifingered robotic hand,” Auton. Robots 28 (4), 385–402 (2010).CrossRefGoogle Scholar
27. Ramadan, A., Inoue, K., Arai, T., Takubo, T., “New architecture of a hybrid two-fingered micro–nano manipulator hand: Optimization and design,” Adv. Robot. 22 (2–3), 235–260 (2008).Google Scholar
28. Nuttall, A. J. G. and Klein Breteler, A. J., “Compliance effects in a parallel jaw gripper,” Mech. Mach. Theory 38 (12), 1509–1522 (2003).CrossRefGoogle Scholar
29. Pons, J. L., Ceres, R. and Pfeiffer, F., “Multifingered dextrous robotics hand design and control: A review,” Robotica 17 (6), 661–674 (1999).Google Scholar
30. Lu, Y. and Hu, B., “Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs,” Mech. Mach. Theory 43 (9), 1112–1128 (2008).CrossRefGoogle Scholar
31. Liu, C. H. and Cheng, S., “Direct singular positions of 3RPS parallel manipulators,” Trans. ASME J. Mech. Des. 126 (6), 1006–1016 (2004).Google Scholar
32. Lu, Y., Wang, P. and Hou, Z. L., “Kinetostatics analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers,” Mech. Mach. Theory 78 (2), 36–50 (2014).Google Scholar