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Design of a biologically inspired parallel robot for foods chewing

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2008年第2期55卷 832-841页

作者： Xu, W. L. Pap, J. -S. Bronlund, J. Massey Univ Sch Engn & Adv Technol Auckland New Zealand Fraunhofer Inst Mat & Beam Technol D-01277 Dresden Germany

To quantitatively assess food texture changes and/or masticatory efficiency during chewing, the jaw movements and, chewing/biting forces must be measured. For this purpose, a robotic solution has been proposed to reproduce the human chewing behavior. The chewing robot of parallel mechanism is based on the biological finding that the mandible is pivoted at the temporomandibular joints and driven by groups of muscles for opening and closing of the mouth. This paper reviews the biomechanics of the mastication system, defines the kinematical mechanism of the chewing robot, and describes the design of the actuation systems. With a linear actuator for a muscle group of mastication, its spatial placement between the mandible or moving plate and the maxilla or ground plate follows the line of action and attachment sites of the muscle. The design requirements for each actuation system are mainly specified as the actuation range, velocity, and acceleration, and the actuation force, which are determined by inverse kinematics analysis via a simulation software and the jaw force analysis via Pythagorean theorem, respectively. A design of the physical linear actuation, which is made up of a rotary motor, a gear reduction train, and a leadscrew, is presented, whereas the challenges are discussed for building the entire chewing robot.

关键词： biorobotics chewing robot muscle of mastication parallel robot speech robot

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Kinematic and deformation analyses of a translational parallel robot for drilling tasks

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2015年第10期29卷 4437-4443页

作者： Maldonado-Echegoyen, R. Castillo-Castaneda, E. Garcia-Murillo, M. A. Inst Politecn Nacl CICATA Colinas Del Cimatario 76090 Queretaro Mexico

A 3DOF translational parallel robot for drilling tasks based on two 5-bar mechanisms with a large workspace is presented in this study. The position analysis is performed by applying simple geometric procedures, and the velocity and acceleration analyses are developed using the theory of screws. A numerical example is included in the contribution to validate the equations of the kinematic analysis, and deformation analysis is performed to assess the accuracy considering the forces reported in the literature for drilling process. A prototype is presented, and an experimental test is performed to validate accuracy using a circular test.

关键词： Drilling tasks Kinematic analysis parallel robot Screw theory

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The 6-Dof 2-Delta parallel robot

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robotICA 1997年第0期15卷 407-416页

作者： Lallemand, JP Goudali, A Zeghloul, S Laboratoire de Mécanique des Solides U.M.R. C.N.R.S 6610 SP2MI-B.P. 179 86960 FUTUROSCOPE Cédex France

In this paper, we will present a new 6-DOF parallel robot using a set of two Delta structures. An effective method is proposed to establish explicit relationships between the end effector co-ordinates and the active and passive joint variables. A simulation of the 2-Delta robot on a C.A.D. robotics system will also be presented. This simulation will allow us to validate the cohesion of our calculations, and to show the workspace depending on the mechanical limits on passive joints variables. Finally, an approach is proposed to study the influence of small clearances of the passive joint on the precision of the position and rotation of the effector. This approach is based on a concept similar to that of Yoshikawa's manipulability.

关键词： parallel robot uncoupled modelization workspace ellipsoid of clearance

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Design of a parallel robot actuated by shape memory alloy wires

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MATERIALS TRANSACTIONS 2002年第5期43卷 1015-1022页

作者： Raparelli, T Zobel, PB Durante, F Politecn Torino Dipartimento Meccan Turin Italy Univ Aquila Dipartimento Energet Laquila Italy

In this paper the design and the manufacture of a 3-dof (degrees of freedom) robot driven by shape memory alloys (SMA) is presented. This robot has a parallel structure including a fixed plate and a moving plate. The plates are linked together by 3 SMA wires and a mechanical spring is located in the central part. Possible applications are the control devices to orient a mirror, a sample under a microscope or to orient the head of a micro snake like robot. The paper explains the kinematic model, the mechanical design and the control system of the robot. The feedback signals of the closed loop control system are the displacements of the SMA joints located on the moving plate, measured by three conductive potentiometers. The control system is P.C. based. The SMA actuators are driven by Nitinol wires of a diameter of 0.15 mm. The robot takes up a cylinder with a diameter of 100 mm and a height of 180 mm. A prototype of the robot has been manufactured and some experimental tests were carried out. These tests are carried out both using a simple test bed made by a SMA wire and a pulley, and using the prototype itself. The step response of a single SMA wire and the trajectory control to describe a circle in the prototype are also shown as validation tests of the robot. The results of the experimental validation show the feasibility of this design, but particular attention has to be paid to the machining and to the assembly.

关键词： shape memory alloys (SMA) actuator shape memory alloys (SMA) wire robot design parallel robot robot prototype closed loop control control design

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Time minimum trajectory planning of a 2-DOF translational parallel robot for pick-and-place operations

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CIRP ANNALS-MANUFACTURING TECHNOLOGY 2007年第1期56卷 365-368页

作者： Huang, T. Wang, P. F. Mei, J. P. Zhao, X. M. Chetwynd, D. G. Tianjin Univ Sch Mech Engn Tianjin 300072 Peoples R China Univ Warwick Sch Engn Coventry CV4 7AL W Midlands England

This paper deals with the time-minimum trajectory planning of a 2-DOF translational parallel robot named the Diamond for rapid pick-and-place operations. Kinematics and dynamics of the robot are formulated using a parametric function, allowing the representation of the input torque and velocity constraints to be converted to those in terms of the path length. A modified algorithm for achieving the minimized traversal time is proposed by taking into account the path jerk limit. Lithium-ion battery sorting using the Diamond robot is taken as an example to demonstrate the applicability of this approach.

关键词： parallel robot motion planning pick-and-place

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Dynamic modelling and energy-efficiency optimization in a 3-DOF parallel robot

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2024年第5-6期132卷 2677-2699页

作者： Fabris, Giuliano Scalera, Lorenzo Gasparetto, Alessandro Univ Udine Polytech Dept Engn & Architecture I-33100 Udine Italy

Energy efficiency is a challenging and relevant research field in modern manufacturing industries, where robotic systems play an essential role in the automation of several industrial operations. In this paper, we present an approach for the energy-efficiency optimization of a 3-DOF parallel robot. The proposed strategy leverages the task placement, the execution time, and the length of the robot lower arms to minimize the energy consumption for the execution of a predefined high-speed pick-and-place operation. To evaluate the actuators energy consumption, the kinematic, dynamic and electro-mechanic mathematical models, as well as an equivalent multibody model, of the parallel robot are implemented. The results of extensive numerical simulations show that the proposed strategy provides notable improvements in the energy efficiency of the parallel robot, with respect to alternative approaches. Starting from a pick-and-place task with optimal task placement with a consumption of 38.2 J (with a cycle time of 0.4 s), the energy expenditure can be reduced to 3.75 J (with a cycle time of 1.86 s), with a reduction percentage of 90.2%, by additionally optimizing the execution time, and the length of the robot lower arms. These results lead to a reduction from 5733 J/min (for 150 cycles/min) to 121 J/min (for 32 cycles/min), allowing to choose the best trade-off between robot productivity and consumed energy.

关键词： parallel robot Energy efficiency Multibody dynamics Trajectory planning Optimization

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A robust control scheme for a 2PUS+RR parallel robot for ankle rehabilitation

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robotICA 2023年第11期41卷 3296-3313页

作者： Flores-Salazar, Erick D. Lugo-Gonzalez, Esther Arias-Montiel, Manuel Gallardo-Alvarado, Jaime Technol Univ Mixteca Postgrad Div Oaxaca Mexico Technol Univ Mixteca Inst Elect & Mech Oaxaca Mexico Technol Inst Celaya Dept Mech Engn Guanajuato Mexico

This paper presents a robust adaptive controller based on the backstepping technique using an extended state observer (ESO), implemented on a 2PUS+RR parallel robot, to minimize the trajectory tracking error. The proposed backstepping-ESO controller scheme is designed to compensate for the robot's structured (parametric) and unstructured (nonlinear friction, external disturbances, and dynamics) uncertainties. The overall stability of the controller is guaranteed by the Lyapunov theory. Cosimulation in MATLAB-Simulink and ADAMS View is presented to validate the results of the ESO and backstepping controller implemented in the virtual and physical prototype. For the virtual prototype, it was determined that the system is stable in 2 s and presents a maximum absolute error of 3.5 x 10(-6) m for the actuator position and 2.8 x 10(-5) rad for mobile platform orientation. Regarding the physical robot, a maximum absolute error of 5 x 10(-4) m for the actuator position and 0.0575 rad for the orientation of the robot mobile platform values do not represent a problem for ankle rehabilitation movements. Experimental results were also presented and compared with ankle motion to demonstrate that the applied control system meets the motion requirements of the ankle rehabilitator.

关键词： adaptable control extended state observer parallel robot passive rehabilitation movement control

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Dimensional synthesis of six-degrees-of-freedom high-speed parallel robot using comprehensive evaluation index

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2020年第3期34卷 1325-1338页

作者： Zhang, Fan Mei, Jiangping Zhao, Yanqin Tianjin Univ State Minist Educ Key Lab Mech Theory & Equipment Design Tianjin Peoples R China

Existing high-speed parallel robots cannot satisfy the operating requirements of non-planar industrial generating line. Considering this problem, this study proposes a comprehensive index that can be used for the dimensional synthesis design of a six-degrees-of-freedom (6-DOF) (three translations and three rotations) parallel robot. The index is based on kinematic, coupling characteristic, and dynamic analyses. A comparison with the dimensional parameters of a previously designed robot shows that the proposed design method can effectively decrease the indexes in various aspects and improve the motion performance of the robot. In addition, the servo motor specifications are estimated using the common trajectory and seven-time B-spline curve motion law to meet the robot motion requirements. Therefore, the proposed design approach has successfully been used to guide and develop the design process of the 6-DOF high-speed parallel robot.

关键词： parallel robot Dimensional synthesis robot modeling Coupling characteristics

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Kinematic calibration of a 3-DOF planar parallel robot

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2012年第4期39卷 392-400页

作者： Joubair, Ahmed Slamani, Mohamed Bonev, Ilian A. Super Sch Technol Montreal PQ Canada

Purpose - The purpose of this paper is to describe a calibration method developed to improve the absolute accuracy of a novel three degrees-of-freedom planar parallel robot. The robot is designed for the precise alignment of semiconductor wafers and, even though its complete workspace is slightly larger, the accuracy improvements are performed within a target workspace, in which the positions are on a disc of 170 mm in diameter and the orientations are in the range +/-17 degrees. Design/methodology/approach - The calibration method makes use of a single optimization model, based on the direct kinematic calibration approach, while the experimental data are collected from two sources. The first source is a measurement arm from FARO Technologies, and the second is a Mitutoyo coordinate measurement machine (CMM). The two sets of calibration results are compared. Findings - Simulation confirmed that the model proposed is not sensitive to measurement noise. An experimental validation on the CMM shows that the absolute accuracy inside the target workspace was improved by reducing the maximum position and orientation errors from 1.432 mm and 0.107 degrees, respectively, to 0.04.4 mm and 0.009 degrees. Originality/value - This paper presents a calibration method which makes it possible to accurately identify the actual robot's base frame (base frame calibration), at the same time as identifying and compensating for geometric errors, actuator offsets, and even screw lead errors. The proposed calibration method is applied on a novel planar robot, and its absolute accuracy was found to improve to 0.044 mm.

关键词： Industrial robot Kinematics Calibration Accuracy Kinematic calibration parallel robot Absolute accuracy

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Analysis of the kinematic characteristics of a high-speed parallel robot with Sch6nflies motion： Mobility, kinematics, and singularity

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Frontiers of Mechanical Engineering 2016年第2期11卷 135-143页

作者： Fugui XIE Xin-Jun LIU The State Key Laboratory of Tribology & Institute of Manufacturing Engineering Department of Mechanical Engineering Tsinghua Uni- versity Beijing 100084 China Beijing Key Laboratory of Precision/ Ultra-precision Manufacturing Equipment and Control Tsinghua University Beijing 100084 China

This study introduces a high-speed parallel robot with Schonflies motion. This robot exhibits a promising prospect in realizing high-speed pick-and- place manipulation for packaging production lines. The robot has four identical limbs and a single platform. Its compact structure and single-platform concept provides this robot with good dynamic response potential. A line graph method based on Grassmann line geometry is used to investigate the mobility characteristics of the proposed robot. A generalized Blanding rule is also introduced into this procedure to realize mutual conversion between the line graphs for motions and constraints. Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigated using both qualitative and quantitative approaches. Input and output transmission singularity indices are defined based on the reciprocal product in screw theory and the virtual coefficient by considering motion/force transmission performance. Thereafter, the singular loci of the proposed robot with specific geometric parameters are derived. The mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study are helpful in developing the robot.

关键词： parallel robot mobility inverse kinematics,singularity transmission performance

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