Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-24T18:05:10.089Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

Published online by Cambridge University Press:  30 September 2021

Özgün Selvi Open the ORCID record for Özgün Selvi [Opens in a new window]
Özgün Selvi*
Affiliation:
Mechanical Engineering Department, Çankaya University, Ankara, Turkey
*
E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Overconstrained manipulators in lower subspaces with unique motions can be created and analyzed. However, far too little attention has been paid to creating a generic method for overconstrained manipulators kinematic analysis. This study aimed to evaluate a generic methodology for kinematic analysis of overconstrained parallel manipulators with partial subspaces (OPM-PS) using decomposition to parallel manipulators (PMs) in lower subspaces. The theoretical dimensions of the method are depicted, and the use of partial subspace for overconstrained manipulators is portrayed. The methodology for the decomposition method is described and exemplified by designing and evaluating the method to two overconstrained manipulators with 5 degrees of freedom (DoF) and 3 DoF. The inverse kinematic analysis is detailed with position analysis and Jacobian along with the inverse velocity analysis. The workspace analysis for the manipulators using the methodology is elaborated with numerical results. The results of the study show that OPM-PS can be decomposed into PMs with lower subspace numbers. As imaginary joints are being utilized in the proposed methodology, it will create additional data to consider in the design process of the manipulators. Thus, it becomes more beneficial in design scenarios that include workspace as an objective.

Keywords

overconstraineddecomposition methodparallel manipulator
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1783 - 1798
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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

Merlet, J. P., Parallel Robots (Springer Science & Business Media, 2005).Google Scholar
Huang, Z., Li, Q. C. and Ding, H. F., Theory of Parallel Mechanisms (Springer, Dordrecht, 2012).Google Scholar
Angeles, J., Fundamentals of Robotic Mechanical Systems (Springer, 2014).10.1007/978-3-319-01851-5CrossRefGoogle Scholar
Huang, Z. and Li, Q. C., “General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators,” Int. J. Rob. Res. 21(2), 131–145 (2002).10.1177/027836402760475342CrossRefGoogle Scholar
Gao, F., Li, W., Zhao, X., Jin, Z. and Zhao, H., “New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs,” Mech. Mach. Theory 37(11), 1395–1411 (2002).10.1016/S0094-114X(02)00044-7CrossRefGoogle Scholar
Gogu, G., “Fully-Isotropic Over-Constrained Planar Parallel Manipulators,” In: 2004 IEEE/RSJ Int. Conf. Intell. Robot. Syst., vol. 4 (2004) pp. 3519–3524.Google Scholar
Kong, X. and Gosselin, C. M., “Type synthesis of 5-DOF parallel manipulators based on screw theory,” J. Robot. Syst. 22(10), 535–547 (2005).10.1002/rob.20084CrossRefGoogle Scholar
Dai, J. S., Huang, Z. and Lipkin, H., “Mobility of overconstrained parallel mechanisms,” J. Mech. Des. Trans. ASME 128(1), 220–229 (2006).10.1115/1.1901708CrossRefGoogle Scholar
Lee, C. C. and Hervé, J. M., “Uncoupled actuation of overconstrained 3T-1R hybrid parallel manipulators,” Robotica 27(1), 103–117 (2009).10.1017/S0263574708004554CrossRefGoogle Scholar
Hu, B., “Kinematically identical manipulators for the Exechon parallel manipulator and their comparison study,” Mech. Mach. Theory 103, 117–137 (2016).10.1016/j.mechmachtheory.2016.05.001CrossRefGoogle Scholar
Selvi, O., Structural and Kinematic Synthesis of Overconstrained Mechanisms (Izmir Institute of Technology, 2012).Google Scholar
Yan, Q., Li, B., Li, Y. and Zhao, X., “Kinematics comparative study of two overconstrained parallel manipulators,” Math. Probl. Eng. 2016 (2016).10.1155/2016/5091405CrossRefGoogle Scholar
Li, B., Li, Y. and Zhao, X., “Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator,” Mech. Mach. Theory 104, 222–233 (2016).10.1016/j.mechmachtheory.2016.06.003CrossRefGoogle Scholar
Xu, L., Chen, G., Ye, W. and Li, Q., “Design, analysis and optimization of Hex4, a new 2R1T overconstrained parallel manipulator with actuation redundancy,” Robotica 37(2), 358–377 (2019).10.1017/S0263574718001054CrossRefGoogle Scholar
Arian, A., Isaksson, M. and Gosselin, C., “Kinematic and dynamic analysis of a novel parallel kinematic Schönflies motion generator,” Mech. Mach. Theory 147 (2020).10.1016/j.mechmachtheory.2019.103629CrossRefGoogle Scholar
Yan, Q., Li, B., Zhao, X. and Li, Y., “Comparative Stiffness Analysis of Two Over-Constrained Manipulators,” In: ICARM 2016-2016 Int. Conf. Adv. Robot. Mechatronics (2016) pp. 225–230.Google Scholar
Selvi, O. and Al-Dulaimi, H., “Kinematic Analysis of a 5 dof Overconstrained Manipulator for Rehabilitation of Upper Extremite,” In: IEEE Int. Conf. Acoust. Speech, Signal Process. 2017, vol. 11(2) (2015) pp. 52–69.Google Scholar
Sharifzadeh, M., Arian, A., Salimi, A., Tale Masouleh, M. and Kalhor, A., “An experimental study on the direct & indirect dynamic identification of an over-constrained 3-DOF decoupled parallel mechanism,” Mech. Mach. Theory 116, 178–202 (2017).10.1016/j.mechmachtheory.2017.05.021CrossRefGoogle Scholar
Chen, Z., Xu, L., Zhang, W. and Li, Q., “Closed-form dynamic modeling and performance analysis of an over-constrained 2PUR-PSR parallel manipulator with parasitic motions,” Nonlinear Dyn. 96(1), 517–534 (2019).10.1007/s11071-019-04803-2CrossRefGoogle Scholar
Xu, Y., Liu, W., Yao, J. and Zhao, Y., “A method for force analysis of the overconstrained lower mobility parallel mechanism,” Mech. Mach. Theory 88, 31–48 (2015).10.1016/j.mechmachtheory.2015.01.004CrossRefGoogle Scholar
Liu, W. L., Xu, Y. D., Yao, J. T. and Zhao, Y. S., “Methods for force analysis of overconstrained parallel mechanisms: A review,” Chinese J. Mech. Eng. (English Ed.) 30(6), 1460–1472 (2017).10.1007/s10033-017-0199-9CrossRefGoogle Scholar
Selvi, O. and Yilmaz, K., “Inverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitation,” Mech. Mach. Sci. 46, 437–443 (2017).10.1007/978-3-319-45450-4_44CrossRefGoogle Scholar
Liu, H., Huang, T., Kecskeméthy, A., Chetwynd, D. G. and Li, Q., “Force/motion transmissibility analyses of redundantly actuated and overconstrained parallel manipulators,” Mech. Mach. Theory 109(November 2016), 126–138 (2017).10.1016/j.mechmachtheory.2016.11.011CrossRefGoogle Scholar
Xu, Y., Lu, L., Liu, W., Guo, J., Yao, J. and Zhao, Y., “Principle of force analysis of overconstrained parallel mechanisms considering link weight,” Robotica 37(9), 1533–1544 (2019).10.1017/S0263574719000109CrossRefGoogle Scholar
Hu, B. and Huang, Z., “Kinetostatic model of overconstrained lower mobility parallel manipulators,” Nonlinear Dyn. 86(1), 309–322 (2016).10.1007/s11071-016-2890-2CrossRefGoogle Scholar
Yang, C., Li, Q., Chen, Q. and Xu, L., “Elastostatic stiffness modeling of overconstrained parallel manipulators,” Mech. Mach. Theory 122, 58–74 (2018).10.1016/j.mechmachtheory.2017.12.011CrossRefGoogle Scholar
Zhang, H. and Fang, H., “Stiffness characteristics analysis of a novel 3-DOF parallel kinematic machine tool,” Int. J. Eng. Technol. 10(4), 346–354 (2018).10.7763/IJET.2018.V10.1082CrossRefGoogle Scholar
Li, Q., Xu, L., Chen, Q. and Chai, X., “Analytical elastostatic stiffness modeling of overconstrained parallel manipulators using geometric algebra and strain energy,” J. Mech. Robot. 11(3) (2019).10.1115/1.4043046CrossRefGoogle Scholar
Zhao, F., Yan, Q., Li, B. and Xie, J., “Workspace analysis of an over-constrained 2-RPU&SPR parallel manipulator,” Math. Model. Eng. Probl. 3(2), 87–90 (2016).10.18280/mmep.030208CrossRefGoogle Scholar
Li, H. and Nanc, A. M, “A kinematics-based probabilistic roadmap method for closed chain systems,” Algorithmic Comput. Robot., 243–251 (2020).Google Scholar
Cortés, J., Siméon, T. and Laumond, J. P., “A Random Loop Generator for Planning the Motions of Closed Kinematic Chains Using PRM Methods,” In: Proc. - IEEE Int. Conf. Robot. Autom., vol. 2, May, pp. 2141–2146 (2002).Google Scholar
Bennett, G. T., “ LXXVII. The parallel motion of Sarrut and some allied mechanisms,” London, Edinburgh, Dublin Philos. Mag. J. Sci. 9(54), 803–810 (1905).10.1080/14786440509463333CrossRefGoogle Scholar
Supplementary material: PDF

Selvi supplementary material

Appendix

Download Selvi supplementary material(PDF)
PDF 987.8 KB