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检索条件"主题词=Parallel robot"

共 849 条记录，以下是131-140 订阅

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Kinematic Behaviour of a Novel Medical parallel robot for Needle Placement 24th

Kinematic Behaviour of a Novel Medical Parallel Robot for Ne...

引用

24th International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Gherman, Bogdan Pisla, Doina Kacso, Gabriel Plitea, Nicolae Tech Univ Cluj Napoca Res Ctr Ind Robots Simulat & Testing Memorandumului 28 Cluj Napoca 400114 Romania Iuliu Hatieganu Univ Med & Pharm Babes 8 Cluj Napoca Romania

ISBN: (纸本)9783319212906;9783319212890

Needle insertion procedures cover a large area of applications, like brachytherapy (BT), biopsy or fluid extraction. The paper presents the kinematics of a novel parallel robot designed for needle placement procedures. This implies that the needle will be inserted in the patient's body from the outside up to a target point following a linear trajectory, the needle tracking being achieved using: visual feedback, ultrasound if possible, otherwise computer tomography (CT). The structural synthesis, the robot kinematics, its workspace and some simulation results are presented in the paper.

关键词： parallel robot Needle placement Kinematics Workspace Simulation

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Fuzzy Sliding Mode Control for 6-DOF parallel robot Based on Support Vector Machines

Fuzzy Sliding Mode Control for 6-DOF Parallel Robot Based on...

引用

International Conference on Materials, Mechatronics and Automation (ICMMA 2011)

作者： Zhu, Dequan Mei, Tao Luo, Minzhou Chinese Acad Sci Inst Intelligent Machines Hefei Peoples R China

ISBN: (纸本)9783037850176

To realize the trajectory tracking control for six degrees of freedom parallel robot, a fuzzy sliding mode control strategy based on support vector machines is presented. Sliding mode control algorithm has complete adaptability to system disturbance and siring in sliding mode, which is used to automatically track the uncertainty of system parameters and external disturbance. Fuzzy algorithm is applied to improve the sliding mode control performance. Fuzzy support vector machines have strong treatment of non-linear signal and generalization ability, which is used to reduce the chattering in sliding mode control. The parameters of fuzzy support machines controller are optimized by hybrid learning algorithm, which combines least square algorithm with improved genetic algorithm, to get the optimal control performance for the object. The simulation results demonstrated that the control strategy designed gets tracking effect with high precision and speed, as well as reduces chattering of control under the condition of model error and external disturbance.

关键词： parallel robot fuzzy control sliding mode control support vector machines genetic algorithm least square algorithm

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Research on Deformation Error of Links of parallel robot

Research on Deformation Error of Links of Parallel Robot

引用

International Conference on Advanced Engineering Materials and Technology (AEMT2011)

作者： Zhu Chunxia Luo Jiman Li Bin ShenYang Jianzhu Univ Sch Traff & Mech Engn Shenyang 110168 Peoples R China

ISBN: (纸本)9783037851944

Aimed at the effect problem of deformation of links on position error of parallel robot, the 3-TPT parallel robot is taken as a study object. The deformation error of links of parallel robot was built by error independent principle based on kinematics;the simulation analysis also is carried out by virtual prototype technique, and the effect law of deformation of links to error of parallel robot is given. The results showed that when the deformation length of links is given, the position error can be affected by deformation of each link and the coordinate position of origin in reference frame;In the beginning of parallel robot moving, the deformation of links are small, and with the time increasing, the deformation of links obviously affect the final position error of parallel robot. The two method. proposed in this paper can be used for pre-estimating the error and reducing harmful effects.

关键词： deformation of link error independent principle virtual prototype parallel robot

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Design and control of a 3-RPUR underwater parallel robot 19

Design and control of a 3-RPUR underwater parallel robot

引用

IEEE 19th Conference on Industrial Electronics and Applications (ICIEA)

作者： Yan, Kunpeng Zheng, Tianjiang Zhang, Wenlong Li, Wei Jiang, Dexin Li, Huamin Ningbo Univ Fac Mech Engn & Mech Ningbo 315211 Peoples R China Chinese Acad Sci Ningbo Inst Mat Technol & Engn Ningbo 315201 Peoples R China Zhejiang Key Lab Robot & Intelligent Mfg Equipmen Ningbo 315201 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

ISBN: (纸本)9798350360875;9798350360868

In recent years, three-degree-of-freedom (3-DOF) parallel robots have attracted significant attention within underwater vector thruster. Nevertheless, existing research exhibits certain shortcomings, posing challenges in meeting both the workspace and stiffness requirements concurrently. This paper addresses these issues through the design of a 3-RPUR (P is the prismatic joint, R is the revolute joint, U is the universal joint) underwater parallel robot. The design incorporates U+R pairs to replace spherical pair, enlarging the workspace of the moving platform. Additionally, a redundant static platform serves as auxiliary support to ensure stiffness. This paper begins with an analysis of the inverse kinematics of the parallel robot, deriving its solution. Subsequently, the velocity mapping relationship is examined. The mechanical model of the parallel robot is then integrated into the MATLAB/SIMULINK environment, combining the inverse kinematics solution. A controller is introduced to each moving branch chain to regulate the error, facilitating precise motion control. Simulation results demonstrate that each joint of the parallel robot effectively follows the reference trajectory, with a maximum error of less than 0.006mm. These findings validate the correctness of the mechanism design and the closed-loop control system.

关键词： parallel robot MATLAB Motion control

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Topology Optimization of the Active Arms for a High-Speed parallel robot Based on Variable Height Method 10th

Topology Optimization of the Active Arms for a High-Speed Pa...

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10th International Conference on Intelligent robotics and Applications (ICIRA

作者： Meng, Qizhi Xie, Fugui Xin-Jun Liu Tsinghua Univ State Key Lab Tribol & Inst Mfg Engn Dept Mech Engn Beijing 100084 Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing 100084 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

This paper presents a solution for the topology optimization of the active arms for high-speed parallel robots. The guide-weight method is introduced into the topology optimization of continuum structures as a numerically iterative criterion. A new hypothetical material interpolation scheme is established as the theoretical foundation of the proposed variable height method. Based on the guide-weight and variable height methods, an efficient and intuitive topology optimization algorithm for flexible manufacturing which includes subtractive and additive manufacturing is put forward. The procedure of topology optimization algorithm for flexible manufacturing is described in detail. Two typical numerical examples of minimum compliance under the weight constraint are tested. In order to improve the static stiffness and dynamic response performance of the high-speed parallel robots, the presented approach is finally applied to optimize the topology of a parallel robot's active arms.

关键词： Topology optimization Guide-weight method Variable height method Flexible manufacturing parallel robot

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Kinematic and Workspace Analysis of a parallel robot Used in Security Applications

Kinematic and Workspace Analysis of a Parallel Robot Used in...

引用

IEEE International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)

作者： Chaparro-Altamirano, Daniel Zavala-Yoe, Ricardo Ramirez-Mendoza, Ricardo Inst Tecnol & Estudios Super Monterrey Escuela Diseno Ingn & Arquitectura Mexico City DF Mexico

ISBN: (纸本)9781479922536;9781479922529

This paper proposes a surveillance and defense system based on a 3SPS-1S parallel manipulator. The central constraining leg of the mechanism increases the stiffness of the system and forces the manipulator to have three pure rotation degrees of freedom. In this paper, the inverse kinematic equation is presented. The forward kinematics problem is solved using a geometrical approach, and then a unique solution to the forward kinematics is obtained using artificial neural networks and Newton-Raphson's method. A method to calculate the workspace is proposed, and then a method to maximize the workspace while maintaining the parameters of the robot as close as possible to a desired size is proposed. Finally the Jacobian matrix is obtained and analyzed in order to calculate the singularities of the manipulator.

关键词： parallel robot forward kinematics neural networks workspace

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SOLVING THE KINEMATICS OF A parallel robot BASED ON CAD VARIATION GEOMETRY

SOLVING THE KINEMATICS OF A PARALLEL ROBOT BASED ON CAD VARI...

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ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference

作者： Xu Jiayin Lu Yi Yu Jingjing Yanshan Univ Coll Mech Eng Qinhuangdao Heibei Peoples R China

ISBN: (纸本)9780791849040

A CAD variation geometry approach is proposed for accurately solving the position-orientation, linear velocity/acceleration, and Euler angular velocity/angular acceleration of a symmetrical 3-dof 3-UPU parallel robot. Based on the finite-difference method as the foundations, using the computer aided geometry constraints and dimension driving technique, the simulation mechanism of the 3-UPU parallel robot with Euler angles is created, and the position-orientation can be got. Then the linear velocity/acceleration simulation mechanisms and Euler angular velocity/angular acceleration simulation mechanisms are created. When modifying the driving dimension of three driving limbs, the configurations of the simulation mechanisms are varied correspondingly, and all of the kinematical parameters are solved automatically. The simulation solutions are verified by an analytic approach. The results show that the CAD variation geometry is not only fairly quick and straightforward, but is also advantageous from viewpoint of accuracy and repeatability.

关键词： CAD variation geometry parallel robot kinematics Euler angles

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The Collision-Free Workspace of the Tripteron parallel robot Based on a Geometrical Approach 7th

引用

7th International Workshop on Computational Kinematics (CK)

作者： Anvari, Zolfa Ataei, Parnyan Masouleh, Mehdi Tale Univ Tehran Human Robot Interact Lab Tehran Iran Univ Tehran Sch Elect & Comp Human Robot Interact Lab Tehran Iran

ISBN: (纸本)9783319608679;9783319608662

parallel robots, despite many kinematic features, generally have limited workspace. Therefore, it is paramount importance to obtain the workspace by considering the mechanical interference. In this paper, the mechanical interference, including collision of links, collision of links with obstacles, collision of the end-effector with obstacles, are investigated by using a new geometrical reasoning. For this purpose, a new geometric method is proposed which is based on the segment to segment intersection test. This method can be well extended to a wide range of robotic mechanical systems, including, among others, parallel robots. Moreover, in this paper, an index is introduced which can be used to examine the workspace with respect to mechanical interference. Furthermore, the aforementioned index provides some insight into obtaining a well-conditioned workspace. For the sake of validation, as case study, the proposed method is implemented to a spatial 3-DOF parallel robot, known as the Tripteron.

关键词： Mechanical interference parallel robot Collision-free workspace Performance index

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Dynamic Model of a parallel robot Type 3UPS+1RPU for Knee Rehabilitation 2

Dynamic Model of a Parallel Robot Type 3UPS+1RPU for Knee Re...

引用

2nd IEEE Colombian Conference on robotics and Automation (CCRA)

作者： Pulloquinga, Jose L. Aquino, Socrates M. Pozo, Edwin R. Cruz, Patricio J. Zambrano, Oscar I. Escuela Politec Nacl Fac Ingn Mecan Dept Ingn Mecan Quito Ecuador Escuela Politec Nacl Fac Ingn Mecan Dept Automatizac & Control Ind Quito Ecuador

ISBN: (纸本)9781538684641

In this work, the dynamic model of a parallel robot for knee rehabilitation (type 3UPS + 1RPU) is developed by applying the Gibbs Appell methodology. The compatibility of the kinematic behavior was analyzed by computing the residuals between the position of the linear actuators of the robot calculated from the dynamic model and the positions measured running simulations in ADAMS. The trajectories employed for the compatibility test are based on movements for knee rehabilitation. These movements are hip flexion and knee flexion-extension. The results are quantified by calculating the mean square error.

关键词： dynamic model knee rehabilitation parallel robot co-simulation

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Elastostatic Modelling of a Wooden parallel robot 7th

引用

7th International Workshop on Computational Kinematics (CK)

作者： Kaci, Lila Boudaud, Clement Briot, Sebastien Martinet, Philippe CNRS UMR 6004 Lab Sci Numer Nantes LS2N Nantes France Ecole Cent Nantes Nantes France Grp Ecole Super Bois LIMBHA Nantes France

ISBN: (纸本)9783319608679;9783319608662

Eco-design of industrial robots is a field of research which has been rarely explored in the past. In order to considerably decrease the environmental impact of robot during the design phase, metal or carbon composite parts can be replaced by bio-sourced materials, such as wood. Indeed, wood has interesting mechanical properties, but its performance/dimensions will vary with the atmospheric conditions/external solicitations and with the conditions in which trees have grown. In order to be able to design a stiff industrial robot, robust design approaches must be used. These approaches must be fed with elastostatic models that are able to predict the variability in the robot deformations due to the variability of the wood mechanical properties. In this paper, we develop an elastostatic model for a wooden parallel robot which is able to cope with the variations of the wood mechanical properties. The prediction of this model in terms of deformations are compared with experimental measurements made on a wooden parallel robot mockup. Results show that there is a good correlation between the measurement displacements and the computed ones.

关键词： Eco-design parallel robot Elastostatic model Wood

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