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A New Approach to the Architecture Optimization of a General 3-PUU Translational Parallel Manipulator

Yangmin Li, Qingsong Xu
2006 Journal of Intelligent and Robotic Systems  
This paper presents a new approach to the architecture optimization of a general 3-PUU translational parallel manipulator (TPM) based on the performance of a weighted sum of global dexterity index and  ...  The analytical results are helpful in designing a general 3-PUU TPM, and the proposed design methodology can also be applied to architectural optimization for other types of parallel manipulators.  ...  In this communication, the architectural optimization for a general 3-PUU TPM is developed by a new approach which is based on the performance that is a weighted sum of global dexterity index and a new  ... 
doi:10.1007/s10846-006-9044-6 fatcat:2ost2yc6brht3mgzu2bwexhhmy

Stiffness Optimization of a 3-DOF Parallel Kinematic Machine Using Particle Swarm Optimization

Qingsong Xu, Yangmin Li
2006 2006 IEEE International Conference on Robotics and Biomimetics  
In this paper, the architectural parameters optimization of a three-prismatic-universal-universal (3-PUU) parallel kinematic machine (PKM) with three translational degree-offreedom (DOF) is performed using  ...  To illustrate the efficiency of the PSO approach, both the traditional direct search method and the genetic algorithm (GA) are applied to the optimization as a comparison.  ...  The main contribution of this work lies the stiffness-based architecture optimization of a 3-PUU PKM through a new approach, i.e., the particle swarm optimization.  ... 
doi:10.1109/robio.2006.340094 dblp:conf/robio/XuL06 fatcat:wjvqrebybraenjufskasuvcdia

Accuracy-Based Architecture Optimization of a 3-DOF Parallel Kinematic Machine

Qingsong Xu, Yangmin Li
2006 2006 IEEE International Conference on Automation Science and Engineering  
In this paper, the architectural parameters optimization of a three degree-of-freedom (DOF) parallel kinematic machine (PKM) with three PUU (prismatic-universaluniversal) links is performed using the efficient  ...  Index Terms-Parallel manipulators, error model, accuracy, workspace, optimal design.  ...  The main contribution of this work lies the error modeling and accuracy-based architecture optimization of a 3-PUU PKM through a new approach, i.e., the particle swarm optimization.  ... 
doi:10.1109/coase.2006.326856 dblp:conf/case/XuL06 fatcat:yhdok2pl3jhjrpuvelsidzp7ge

Kinematic Analysis and Optimization of a New Compliant Parallel Micromanipulator

Qingsong Xu, Yangmin Li
2006 International Journal of Advanced Robotic Systems  
In this paper, a new three translational degrees of freedom (DOF) compliant parallel micromanipulator (CPM) is proposed, which has an excellent accuracy of parallel mechanisms with flexure hinges.  ...  The simulation results show that the PSO is the best method for the optimization, and the results are valuable in the design of a new micromanipulator.  ...  The main contribution of this paper lies in the novel design and kinematic analysis of a 3-PUU CPM, and the architectural optimization through a new approach, i.e., the particle swarm optimization.  ... 
doi:10.5772/5721 fatcat:to7d2o6jszed3lpba3sxt6name

Mechanical Design of Compliant Parallel Micromanipulators for Nano Scale Manipulation

Qingsong Xu, Yangmin Li
2006 2006 1st IEEE International Conference on Nano/Micro Engineered and Molecular Systems  
as an example, a new type of CPM is designed and its applications are presented for nano scale manipulation.  ...  In this paper, the design issues of a compliant parallel micromanipulator (CPM) for nanomanipulation is presented from the mechanical design point of view.  ...  In addition, the analysis for a traditional 3-PUU translational parallel manipulator involving workspace determination, dexterity evaluation, and architecture optimization, etc., can be applied to the  ... 
doi:10.1109/nems.2006.334866 fatcat:wsmjzmsprrawhipfqgir5sc66q

Optimal Design of a New Nanopositioner using Genetic Algorithm

Yangmin Li, Qingsong Xu
2006 2006 1st IEEE International Conference on Nano/Micro Engineered and Molecular Systems  
In this paper, a new parallel nanopositioner (PNP) employing a spatial compliant parallel manipulator has been proposed due to the excellent accuracy of parallel mechanisms and flexure hinges.  ...  And the optimization results will be valuable in the design of a new nanopositioner.  ...  Fig. 1 . 1 A 3-PUU parallel nanopositioner. Fig. 2 . 2 Flexure U joint. . 3 . 3 PRB model of the 3-PUU PNP. Fig. 4. Representation of workspace determination.  ... 
doi:10.1109/nems.2006.334758 fatcat:xaqotjkxy5hqbklyrygdbewayi

Stiffness analysis for a 3-PUU parallel kinematic machine

Yangmin Li, Qingsong Xu
2008 Mechanism and Machine Theory  
for the architecture design of a 3-PUU PKM.  ...  This paper presents the stiffness characteristics of a three-prismatic-universal-universal (3-PUU) translational parallel kinematic machine (PKM).  ...  In this paper, a new approach is presented to directly derive the stiffness matrix of a less-DOF parallel manipulator based upon an overall Jacobian which is previously proposed in [12] to identify both  ... 
doi:10.1016/j.mechmachtheory.2007.02.002 fatcat:4e22rmrd6vd6dhcmrsl5poqu7y

Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators

Alfonso Hernandez, Jose Ignacio Ibarreche, Victor Petuya, Oscar Altuzarra
2014 International Journal of Advanced Robotic Systems  
In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically.  ...  The structural synthesis is a combinatorial process of different kinematic chains' topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel  ...  topological synthesis approach presented in this paper systematically, families of architectures of spatial 3-DoF parallel manipulators have been obtained.  ... 
doi:10.5772/58732 fatcat:vowxukaiwvf7pozyxrmi5wfoqi

Stiffness analysis of overconstrained parallel manipulators

Anatol Pashkevich, Damien Chablat, Philippe Wenger
2009 Mechanism and Machine Theory  
The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators of 3-PUU and 3-PRPaR architectures  ...  Accuracy of the proposed approach was evaluated for a case study, which focuses on stiffness analysis of Orthoglide parallel manipulator.  ...  Acknowledgments This work has been partially funded by the European projects NEXT, acronyms for "Next Generation of Productions Systems", Project no° IP 011815.  ... 
doi:10.1016/j.mechmachtheory.2008.05.017 fatcat:snsl3ybj7zesbdaaxgxfpyzade

Mobility analysis of a 3-PUU flexure-based manipulator based on screw theory and compliance matrix method

Shunli Xiao, Yangmin Li, Qiaoling Meng
2013 International Journal of Precision Engineering and Manufacturing  
This paper presents the mobility analysis of a 3-PUU flexure-based compliant parallel XYZ pure translational positioning stage.  ...  The analytical results also clarify effectively that the 3-PUU parallel positioning stage is with a pure translational mobility.  ...  Stage architecture description of the manipulator The schematic diagram of a 3-PUU parallel manipulator (FPM) is shown in Fig. 1 .  ... 
doi:10.1007/s12541-013-0182-z fatcat:td4dootvtfeotioilnt6nqgo7i

Task-oriented configuration design for reconfigurable parallel manipulator systems

A. K. Dash, I. -M. Chen, S. H. Yeo, G. Yang
2005 International journal of computer integrated manufacturing (Print)  
A TaskToRobot Map is proposed to map the given task description to a suitable manipulator configuration in the datebase according to the DOFs of the required task.  ...  This article presents a two stage design methodology, from structure determination to parameter optimization, for determining task-specific optimal configurations of reconfigurable parallel manipulators  ...  Acknowledgment This work is supported by Ministry of Education (Singapore) under the Academic Research Fund RG 29/99.  ... 
doi:10.1080/09511920500069192 fatcat:nns5mhctcfecnmu3jrvktm7vom

Design and dimensional synthesis of a Linear Delta robot with single legs for additive manufacturing

Efrain Rodriguez, Cristhian Riaño, Alberto Alvares, Renan Bonnard
2019 Journal of the Brazilian Society of Mechanical Sciences and Engineering  
presents the design and dimensional synthesis of a new structure of the Linear Delta parallel robot for AM (3D printing).  ...  A method of efficient optimization based on genetic algorithms is used to find the minimum dimensional parameters of the robot, considering the maximization of the useful workspace as the main performance  ...  Acknowledgements The authors would like to thank the financial support of the Brazilian government agency MEC/CAPES/CNPq/FAPDF.  ... 
doi:10.1007/s40430-019-2039-6 fatcat:tc4za33ovrdyhh7aneprdhp4im

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

Mario Garcia-Murillo, Roger Sanchez-Alonso, Jaime Gallardo-Alvarado
2016 Machines  
In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented.  ...  Finally, a numerical example is included to show the application of the kinematic model, which is verified with the aid of a commercially available software.  ...  Author Contributions: Mario A. Garcia-Murillo and Roger E. Sanchez-Alonso conceived the topology of the manipulator. Roger E. Sanchez-Alonso performed the singularity analysis; Mario A.  ... 
doi:10.3390/machines4040022 fatcat:ialh2rs73bgrzd4k2al7ctaxyi

Enhanced stiffness modeling of manipulators with passive joints

Anatol Pashkevich, Alexandr Klimchik, Damien Chablat
2011 Mechanism and Machine Theory  
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints.  ...  In particular, as it follows from general theory of elasticity, the loading may potentially lead to multiple equilibriums, to bifurcations of the equilibriums and to static instability of certain manipulator  ...  Acknowledgements The work presented in this paper was partially funded by the Region "Pays de la Loire", France and by the EU commission (project NEXT).  ... 
doi:10.1016/j.mechmachtheory.2010.12.008 fatcat:jstozijwcnb7te5g4duzsah2qe

Optimal Design of a Parallel Manipulator for Aliquoting of Biomaterials Considering Workspace and Singularity Zones

Dmitry Malyshev, Larisa Rybak, Giuseppe Carbone, Tatyana Semenenko, Anna Nozdracheva
2022 Applied Sciences  
This article presents the concept of a robotic system for aliquoting of biomaterial, consisting of a serial manipulator in combination with a parallel Delta-like robot.  ...  The paper describes a mathematical formulation for approximating the geometric constraints of the parallel robot as a set of solutions to a system of nonlinear inequalities.  ...  The workspace for a 3-PUU Delta mechanism with translational drive joints is considered in the article [24] .  ... 
doi:10.3390/app12042070 fatcat:q7qjodisizf25bkxkxkoqzt7wu
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