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A New Approach to the Architecture Optimization of a General 3-PUU Translational Parallel Manipulator
2006
Journal of Intelligent and Robotic Systems
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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
2006
2006 IEEE International Conference on Robotics and Biomimetics
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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
2006
2006 IEEE International Conference on Automation Science and Engineering
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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
2006
International Journal of Advanced Robotic Systems
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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
2006
2006 1st IEEE International Conference on Nano/Micro Engineered and Molecular Systems
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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
2006
2006 1st IEEE International Conference on Nano/Micro Engineered and Molecular Systems
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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
2008
Mechanism and Machine Theory
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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
2014
International Journal of Advanced Robotic Systems
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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
2009
Mechanism and Machine Theory
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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
2013
International Journal of Precision Engineering and Manufacturing
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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
2005
International journal of computer integrated manufacturing (Print)
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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
2019
Journal of the Brazilian Society of Mechanical Sciences and Engineering
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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
2016
Machines
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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
2011
Mechanism and Machine Theory
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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
2022
Applied Sciences
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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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