Intuitive physical human robot interaction using a passive parallel mechanism duration. The inverse kinematics mathematical model is established for this kind of mechanism. The analysis is performed based on statics focusing on lowspeed motions. It is worth mentioning that, in this paper, all the probable collisions, i. Rehabilitation of autism spectrum disorder asd children. An active vibration control experiment of planar 3 r rr flexible parallel robots is implemented in this paper. A 3 dof 3rrr planar parallel manipulator is typical robot arm designed to manipulate precision positioning tasks.
Abstractour work concerns the development of the delta 3 rrr parallel robot for the rehabilitation of autism spectrum disorder asd children. Every chain is composed of three revolute joints with axes intersecting in one point called center of the robot. Modelling and simulation of inverse kinematics for planar. A strain rate feedback controller is designed based on the established general motion equation. Gosselin and angeles and pennock and kassner 14 each present a kinematical study of a planar parallel robot, where a moving platform is connected to a fixed base by. The direct and indirect kinematics of planar parallel 3 rrr robots has been studied, e. In this paper, a planar 3 rrr parallel robot is studied. Figure 1 shows a spatial rrr robot with a gravity load on the endeffector at e. Kinematics of the 3rrr planar parallel robot semantic scholar. A 3 rrr parallel manipulator has been wellknown as a closedloop kinematic chain mechanism in which the endeffector generally a moving platform is connected to the base by several independent actuators. Firstly, the inverse kinematics model of the 3 rrr parallel robot was established according to the. Dynamic analysis of a 3 r rr parallel robot with joint clearances using natural coordinates.
The three identical legs of the robot, connecting to the moving platform, are located in the same plane. In a parallel manipulator, as we mentioned before, the links are arranged in a closed rather than open kinematic chain. Aradyfio and qiao 12 examine in their paper the inverse kinematics solution for the three different 3 dof planar parallel robots. Then, dynamic model of the system based on lagrange equations is obtained. Locomotion, interface, planar parallel manipulator, rrr joint array, walking. Parallel robots are widely used in the manufacturing industry. Mechanisms and motion, springer, dordrecht, pp 7584. The structure of the 3 rrr planar parallel robot the threedimensional map of the 3 rrr parallel robot is shown in figure 1. When the change of coordinates is successively considered, the corresponding matrices are multiplied. Design and performance analysis of a 3rrr spherical. Recursive matrix relations for kinematics of the commonly known 3rrr planar parallel robot with revolute actuators are established in this paper. Kinematics of a 3 prp planar parallel robot 5a recursive method is developed in the present paper for deriving the inverse kinematics of the 3 prp planar parallel robot in a numerically efficient way. Fuzzytuned pd tracking control of a 3rrr parallel manipulator. Optimum shaking force balancing of planar 3rrr parallel.
Proceedings of the asme 2014 international design engineering technical conferences and computers and information in engineering conference. Wenger abstract this paper proposes a new design method to determine the feasible set of parametersof translationalor positionorientationdecoupledparallel robotsfor a. Pdf 3rrr spherical parallel robot optimization with. Planar parallel robots are good candidates for microminiaturization into a microdevice. This device is considered a 3 dof spherical mechanism because all of its moving linkages perform spherical motions about a common point, o, which is stationary with respect to its base structure. Soheil sadeqi, shaun p bourgeois, edward j park and. In this paper, we present the design of a novel 3 r us r rr redundantly actuated parallel mechanism for ankle rehabilitation based on the principle from the conceptual design. Having a closedloop structure, the planar parallel robot 3 rrr is a special symmetrical mechanism composed of three planar kinematical chains with identical topology, all connecting the fixed base to the moving platform fig. Redundantly actuated 3rrr spherical parallel manipulator. Development of a 3dof planar parallel robot rrr type for. Inverse kinematic modeling of 3rrr parallel robot revues et. Aug 06, 2019 this article presents a new variable actuation mechanism based on the 3 rpr parallel robot.
Abstractour work concerns the development of the delta3 rrr parallel robot for the rehabilitation of autism spectrum disorder asd children. Four control schemes are designed in this experiment. Figure 1 shows a geometrical schematic of a generalized 3 rrr manipulator. Joint forces in dynamics of the 3 rrr planar parallel robot 285 2 kinematics analysis having a closedloop structure, the planar parallel robot 3 rrr is a special symmetrical. Dynamics of a 3prr planar parallel robot 7 element of the leg is a rigid rod 2 linked at thexa ya za 2 2 2 frame, having a relative rotation about za 2 axis with the angle a. Dynamic model and vibration characteristics of planar 3rrr. Workspace and singularity analysis of 3rrr planar parallel.
Pdf recursive matrix relations for kinematics of the commonly known 3rrr planar parallel robot with revolute actuators are established in this paper find. Simulation results demonstrate the validity of the dynamic methodology containing the modified pinkussternlicht model for the 3 p rr parallel. This paper studied the kinematic model of the 3 rrr robot including the fk and ik and compile the mathematical expression into. This paper deals with the optimization of the 3 rrr spherical parallel manipulator spm. Multiobjective optimum design of a 3rrr spherical parallel.
Subsequently, the dynamic behavior of the 3 prr parallel robot with multiple lubricated joints is analyzed comprehensively, compared with the 3 prr parallel robot with multiple dry clearance joints. Geometric analysis based on screw theory is performed to calculate the stiffness matrix of a redundantly actuated 3 rrr parallel robot. Furthermore, a physical simulation model is established by virtue of matlabsimmechanics and a relevant inverse kinematics simulation is implemented at the assumption of known conditions of. In addition, the limbs and the size of the platform could be change. Solution regions in the parameter space of a 3rrr decoupled.
Dynamic model of planar 3 r rr flexible parallel robots sketch of planar rr parallel robots. Dynamics of a 3 prr planar parallel robot 7element of the leg is a rigid rod 2 linked at thexa ya za 2 2 2 frame, having a relative rotation about za 2 axis with the angle a. In order to improve the control precision and robustness of the existing proportion integration differentiation pid controller of a 3 revoluterevoluterevolute 3 rrr parallel robot, a variable pid parameter controller optimized by a genetic algorithm controller is proposed in this paper. To establish a simple and efficient dynamic model of the planar 3 rrr fpm to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid. Figure 1 shows a geometrical schematic of a generalized 3rrr manipulator. The endeffector orientation is fix at 0 deg, and the inverse solution of each leg is such that each chains elbow is pointing towards the. Synchronization controller for a 3rrr parallel manipulator. Pdf a 3rrr spherical parallel manipulator reconfigured. This video demonstrates a 3rrr parallel robot following an epicycloidal path. This work, entitled design and implementation of 3rrr spherical parallel robot with three coaxial actuators has had the scope to analytically study the kinematics both inverse and forward one of a coaxial con. The complete 3d design of the robot has been realised, building it thanks to a 3d printing process called. In the actuation schema of the parallel robot rrr with all revolute actuators. The article also presents the development process a 3 rrr parallel robot, pointing out the integration of the elements and showing the challenges needed to be faced for the interfaces between the robot modules and the gui graphical user. Kinematic properties of a 3 rrr planar parallel robot established in 2.
This simulation shows a 3rrr parallel robot, moving through a specified path with variable velocity and rotation. Reference 5 focusses on the dynamics of such robots. Singularities of a planar 3 r p r parallel manipulator with joint clearance. Section iii recalls the notion of aspect for parallel manipulators. Pdf recursive matrix relations for the complete dynamics of a 3rrr planar parallel robot are established in this paper. Dynamic model and vibration characteristics of planar 3. Design and performance analysis of a 3rrr spherical parallel.
Recursive matrix relations for kinematics of the commonly known 3 rrr planar parallel robot with revolute actuators are established in this paper. Firstly, kinematic equations of planar 3 rrr parallel robots are given. The schematic diagram of the 3 rrr planar parallel robot is shown in figure 2. Description of 3 rrr parallel robot in this paper we present a geometric description of 3 rrr parallel robots which composed by a. Design and development of 3dof rpr planar parallel robot. In order to improve the control precision and robustness of the existing proportion integration differentiation pid controller of a 3revoluterevoluterevolute 3rrr parallel robot, a variable pid parameter controller optimized by a genetic algorithm controller is proposed in this paper. Spherical parallel manipulator 3rrr coaxial spm youtube. The proposed mechanism can actualize the rotational movements of the ankle in three directions while at the same time the mechanism center of rotations can match the ankle axes of rotations compared with other multi. Manipulability ellipsoid of 3 rrr parallel manipulator. The basic idea is to introduce training modes passive and active to the delta3 robot in order to help these children to stimulate their brains. Dynamic modeling and comparative analysis of a 3 p rr. There are many different ways to obtain this polynomial but most.
Moreover, the inverse kinematic problem of the 3 rrr parallel robot is analyzed and then the aforementioned hybrid method is applied to this mechanism in singularfree case. Pick and place trajectory planning of planar 3 rrr parallel manipulator in the presence of joint clearance volume 35 issue 2 m. A 3rrr decoupled robot is used to validate the proposed design method. Pdf comparative analysis in dynamics of the 3rrr planar. The spherical parallel manipulator under study is a novel robotic wrist with an unlimited roll motion bai. Let s mr cwk cwk cwk 1,2, 3 k be static moment of the counterweight, where m cwk is the mass of the counterweight. The simulation results show that this method is much more effective and convenient when a certain simulation is implemented for the parallel mechanisms.
Finally, a revolute joint is introduced at the moving platform, which is schematised as an equilateral triangle congruent to the base. Finally, a revolute joint is introduced at a planar moving platform, which is schematised as an. Pdf kinematics of the 3rrr planar parallel robot researchgate. This work, entitled design and implementation of 3 rrr spherical parallel robot with three coaxial actuators has had the scope to analytically study the kinematics both inverse and forward one of a coaxial con. This work presents a kinematic study of 3 rrr parallel robot. Joint forces in dynamics of the 3rrr planar parallel robot 285 2 kinematics analysis having a closedloop structure, the planar parallel robot 3 rrr is a special symmetrical. Finally, the change of the drive torque and energy consumption of active joints are analyzed under the different trajectories and different loads of the moving platform is given. Due to the complexity of the dynamic model of a planar 3 rrr flexible parallel manipulator fpm, it is often difficult to achieve active vibration control algorithm based on the system dynamic model. The basic idea is to introduce training modes passive and active to the delta 3 robot in order to help these children to stimulate their brains. Reducing the undesirable effects of joints clearance on the behavior of the planar 3 rrr parallel manipulators. Optimal torque distribution for a redundant 3 rrr spherical parallel manipulator used as a haptic medical device.
Depending on the dimensional parameters and constructive characteristics, the authors search to depict the shape and particularities of the mechanism workspace of a 3 rrr planar parallel mechanism. The control is applied on a planar parallel robot with 3 dof. Development of a 3dof planar parallel robot rrr type for omnidirectional locomotion interface. In addition to workspace constraints and dexterity performance. The kinematic analysis of a symmetrical threedegreeof. Position control of a 3dof 3rrr planar parallel manipulator. In this paper, a novel optimal torque distribution method for a redundantly actuated parallel robot is proposed. The trajectory is setting as a function yx2, ysinx, etc. Research article experimental study of active vibration. Indeed, parallel robot is fundamentally a closedloop kinematic chain mechanism in which the. Experimental study of active vibration control of planar 3. A method for determining the inverse kinematics of the 3 rrr planar parallel minirobot is presented. Vigen arakelian, anush samsonyan, narek arakelyan 2015 optimum shaking force balancing of planar 3 rrr parallel manipulators by means of an adaptive counterweight system.
All possible locations of the operating point c of the robot, which can be reached with a given orientation is shown in the fig. Design and kinematical performance analysis of a 3rusrrr. Knowing the motion of the platform, the inverse kinematical problem offers expressions and. Modelling and simulation of inverse kinematics for planar 3. Kinematic properties of a 3rrr planar parallel robot established in 2. The video is part of an educational high school science outreach activity carried out by arma lab under national. Joint forces in dynamics of the 3rrr planar parallel robot. Development of a 3 dof planar parallel robot rrr type for omnidirectional locomotion interface.
This mechanismis an evolution of the navaro robot, a 3 rrr parallel robot, for which the second revolute joint of the threelegs is replaced by a scissor to obtain a larger working space and avoid the use of parallelograms to operate thesecond revolute joint. A 3 dof 3 rrr planar parallel manipulator is typical robot arm designed to manipulate precision positioning tasks. Dynamic analysis of a 3rrr parallel robot with joint. A geometric approach for singularity analysis of 3 dof planar parallel manipulators using grassmanncayley algebra volume 35 issue 3 kefei wen, taewon seo, jeh won lee. Design and implementation of 3rrr spherical parallel. Optimal torque distribution method for a redundantly actuated. Balan r, maties v, stan s, lapusan c 2005 on the control of a 3 rrr planar parallel minirobot. The control was achieved based on simmechanics toolbox of matlabsimulink.
Optimization design by genetic algorithm controller for. Solution regions in the parameter space of a 3 rrr decoupled robot for a prescribed workspace d. Parallel 3rrr robot epicycloidal path demonstration youtube. The outline of the 3 rrr planar parallel robot is composed of the regular triangle of the moving platform c 1c 2c 3. Pdf joint forces in dynamics of the 3rrr planar parallel robot. This paper presents the design and performance analysis and experimental study of a 3 rrr spherical parallel manipulator in the context of hip exoskeleton applications.
Kinematics of a 3 prp planar parallel robot 7 in the study of the kinematics of robot manipulators, we are interested in deriving a matrix equation relating the location of an arbitrary i tk body to the joint variables. The complete 3d design of the robot has been realised, building it thanks to a 3d printing process called fdm technology fused deposition. Kinematics and dynamics analysis of planar 3rrr parallel. Singularities are classified with interpretation and instantaneous centre method is proposed for all planar parallel manipulators to understand their singularities 8. Improving the pose accuracy of a planar 3 r rr parallel. A geometric approach for singularity analysis of 3dof. Lenarcic j, roth b eds advances in robot kinematics. Development of a 3dof planar parallel robot rrr type. Design and implementation of 3rrr spherical parallel robot. Navaro ii, a novel scissorbased planar parallel robot 1. Kinematics and dynamics of planar 3 rrr parallel robots are presented. After these two manipulators were presented, there are numerous parallel manipulators developed for various industrial applications, such as assembly, packaging and machining operations. Aug 24, 2016 intuitive physical humanrobot interaction using a passive parallel mechanism duration. Improving the pose accuracy of a planar 3r rr parallel manipulator using kinematic redundancy and optimized switching patterns jens kotlarski, houssem abdellatif, and bodo heimann abstract in the present paper kinematic redundancy is proposed in order to improve the achievable pose accuracy of a parallel robot s traveling platform.
One of the main problems affecting parallel robots in industry is the low workspace to installationspace ratio. The paper deals with a workspace problem of the 3 rrr planar parallel mechanism, used as parallel robot structure. Considering the direct and inverse piezoelectric effect of pzt material, a general motion equation is established. Through inverse kinematics simulation, the motion rules of driving parts of the planar 3 rrr parallel robot are obtained, and visualization of simulation process is realized in the system. This paper basically generalizes this study and demonstrates the advantages of general 3 rpr planar parallel robots. Development of 3 dof rpr robot the following components were used for the development of the 3 rpr planer parallel robot. This characterization of the mechanism workspace depending on the dimensional. Jan 08, 2014 this prototype shows a 3rrr parallel planar robot, moving through a specified path with variable velocity and rotation. Asketchofthe planar exible r rr parallel robots is constructed by the regulartrianglemovingplatform 1 2 3,thestaticplatform, and three symmetrical kinematic chains, 1 1 1, 2 2 2, and 3 3 3,asshowninfigure. A recursive method is introduced in the present paper, to reduce the number of equations and computation operations by using a set of matrices for kinematics and dynamics models of the planar 3 rrr parallel robot. Optimal torque distribution method for a redundantly. Rrr fully planar parallel manipulator 3 rrr for less energy requirements and improved performance of the manipulator 7. This work, entitled design and implementation of 3 rrr spherical parallel robot with three coaxial actuators has had the scope to analytically study the kinematics both inverse and forward one, the workspace and the singularities of a coaxial configuration of a spherical manipulator. Pick and place trajectory planning of planar 3rrr parallel.
This prototype shows a 3rrr parallel planar robot, moving through a specified path with variable velocity and rotation. Firstly, the inverse kinematics model of the 3rrr parallel robot was established according to the. Knowing the motion of the platform, the inverse kinematic problem, offers expressions and graphs for the rotation angles. Path planning of 3rrr parallel robot by avoiding mechanical. A workspace characterization of the 3rrr planar parallel. This paper studied the kinematic model of the 3 rrr robot including the fk and ik and compile the mathematical expression into matlab program to conduct the simulation.
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