Book ChapterDOI
Dynamic Modelling Approaches for a 3-PPR Planar Parallel Manipulator
Vinoth Venkatesan,Jayant Kumar Mohanta,Subir Kumar Saha,M. Santhakumar +3 more
- pp 41-52
TLDR
Two dynamic modelling approaches for a planar parallel manipulator with a 3-PPR configuration using an energy based Euler-Lagrangian approach and the DeNOC (Decoupled Natural Orthogonal Complement) matrices are proposed.Abstract:
This paper proposes two dynamic modelling approaches for a planar parallel manipulator with a 3-PPR configuration. The planar configuration has three legs each with a Prismatic-Prismatic-Revolute [PPR] configuration where the first joint is actuated. These three legs are joined by an end-effector which is in the form of an equilateral triangle. The dynamics of the manipulator was derived using an energy based Euler-Lagrangian approach and the DeNOC (Decoupled Natural Orthogonal Complement) matrices. Both the formulations are elucidated and the resulting formulation are compared under similar conditions to validate them.read more
Citations
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Journal ArticleDOI
Kinematics, dynamics and stiffness analysis of a novel 3-DOF kinematically/actuation redundant planar parallel mechanism
TL;DR: In this paper, a 5-degree-of-freedom (DOF) hybrid serial-parallel manipulator is introduced, and the prototype of its parallel part has been manufactured for pratical testing purpose.
Journal ArticleDOI
Development and control of a new sitting-type lower limb rehabilitation robot☆
TL;DR: The effectiveness and performance of the proposed mechanism are demonstrated with a clinical gait pattern using a proportional-integral-derivative (PID) control scheme on an in-house fabricated real-time prototype.
Book ChapterDOI
Dynamic Modeling of Functionally Extended Delta-Like Parallel Robots with Virtual Tree Structures
TL;DR: The Khalil-Ibrahim Method is adapted to the well-known Delta parallel robot and it is shown that the resulting model deftly removes constraint forces while being modularly expandable for analyzing recent design modifications using additional serial chains attached to the parallel Delta structure.
Journal ArticleDOI
Dynamics Modeling and Analysis of a Novel Constraint Metamorphic Reversible Plough
TL;DR: The CMRP proposed in this study provides a feasible technical scheme for improving the capability of reversible plough over unknown and complex terrains.
References
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Journal ArticleDOI
Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory
TL;DR: In this paper, a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs is presented, where only prismatic and revolute joints are considered.
Proceedings ArticleDOI
Direct kinematics of planar parallel manipulators
TL;DR: It is shown that for this problem all the possible kinematic chains can be reduced to a set of three basic chains and it is explained how to calculate the solutions of the forward kinematics for all the combinations of these basic chains.
Journal ArticleDOI
Are parallel robots more accurate than serial robots
Sébastien Briot,Ilian A. Bonev +1 more
TL;DR: It is widely claimed that parallel robots are intrinsically more accurate than serial robots because their errors are averaged instead of added cumulatively, an assertion which has not been properl...
Journal ArticleDOI
A decomposition of the manipulator inertia matrix
TL;DR: An analytical approach is suggested in this paper based on the symbolic Gaussian elimination of the inertia matrix that reveal recursive relations among the elements of the resulting matrices that can be done with the complexity of order n, O(n).
Journal ArticleDOI
Aspects on design of high precision parallel robots
TL;DR: In this paper, the main part of the micro-assembly station consists of a spatial parallel structure with three translational degrees of freedom, and an additional rotational axis is integrated into the working platform.
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