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Advancements and theoretical foundations of cable-driven parallel robots:A comprehensive overview 认领 引用
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作者 Kamran Joyo Han Yuan +2 位作者 Jun Wu Wenfu Xu Honghao Yue 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2026年第3期280-305,共26页
Parallel robotic mechanisms using cables instead of rigid limbs are termed cable-driven parallel robots(CDPRs).Electric motors and pulley mechanisms actuate cables to provide motion for an end-effector in a cable robo... Parallel robotic mechanisms using cables instead of rigid limbs are termed cable-driven parallel robots(CDPRs).Electric motors and pulley mechanisms actuate cables to provide motion for an end-effector in a cable robot.Consequently,CDPRs have emerged as indispensable tools across a spectrum of industrial and technological domains,including astronomy,aerospace,logistics,simulators,and rehabilitation.Their inherent compatibility with the evolving concept of rigid-flexible fusion places CDPRs at the forefront of cutting-edge robotics research.This comprehensive paper aims to consolidate the core theories and advancements underpinning CDPRs,en-compassing key aspects such as configuration design,cable-force distribution,workspace and stiffness analysis,performance evaluation,optimisation techniques,and motion control.We provide in-depth insights into kine-matic modelling,workspace exploration,and cable-force solutions.Furthermore,the paper delves into the in-tricacies of stiffness and dynamic modelling,presenting a range of analytical methods to elucidate their effects on CDPR performance.Addressing reliability concerns and developing a unified control framework are identified as essential in ensuring the practical deployment of CDPRs in real-world scenarios.This research paper offers a comprehensive overview of the theories and advancements in CDPRs,identifying critical areas for further re-search and development to unlock the full potential of these versatile and high-performance robotic systems. 展开更多
关键词 Cable-driven parallel robots Optimisation Path generation Statics Machine learning
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Actuator Fault Diagnosis of 3-PR(P)S Parallel Robot Based on Dung Beetle Optimization-Back Propagation Neural Network 认领 引用
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作者 Junjie Huang Chenhao Huangfu +3 位作者 Qinlei Zhang Shikai Li Yonggang Yan Jiangkun Cai 《Journal of Dynamics, Monitoring and Diagnostics》 2025年第2期91-100,共10页
Any malfunctions of the actuators of the robots have the potential to destroy the robot’s normal motion,and most of the current actuator fault diagnosis methods are difficult to meet the requirements of simplifying t... Any malfunctions of the actuators of the robots have the potential to destroy the robot’s normal motion,and most of the current actuator fault diagnosis methods are difficult to meet the requirements of simplifying the actuator modeling and solving the difficulty of fault data collection.To solve the problem of real-time diagnosis of actuator faults in the 3-PR(P)S parallel robot,the model of 3-PR(P)S parallel robot and data-driven-based method for the fault diagnosis are presented.Firstly,only the input-output relationship of the actuator is considered for modeling actuator faults,reducing the complexity of fault modeling and reducing the time consumption of parameter identification,thereby meeting the requirements of real-time diagnosis.A Simulink model of the electromechanical actuator(EMA)was constructed to analyze actuator faults.Then the short-term analysis method was employed for collecting the sample data of the slider position on the test platform of the EMA system and feature extraction.Training samples for neural networks are obtained.Furthermore,we optimized the Back Propagation(BP)neural network using the Dung Beetle Optimization Algorithm(DBO),which effectively resolved the weights and thresholds of the BP neural network.Compared to BP and Particle Swarm Optimization(PSO)-BP,the DBO-BP has better convergence,convergence rate,and the best-classifying quality.So,the classification for the different actuator faults is obviously improved.Finally,a fault diagnosis system was designed for the actuator of the 3-PR(P)S parallel robot,and the experimental results demonstrate that this system can detect actuator faults within 0.1 seconds.This work also provides the technical support for the fault-tolerant control of the 3-PR(P)S Parallel robot. 展开更多
关键词 actuator Back Propagation neural network Dung Beetle Algorithm fault diagnosis 3-PR(P)S parallel robot
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A Review on Cable-driven Parallel Robots 认领 引用 被引量：46
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作者 Sen Qian Bin Zi +1 位作者 Wei-Wei Shang Qing-Song Xu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2018年第4期37-47,共11页
Cable-driven parallel robots(CDPRs) are categorized as a type of parallel manipulators. In CDPRs, flexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several adv... Cable-driven parallel robots(CDPRs) are categorized as a type of parallel manipulators. In CDPRs, flexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several advantages, including larger workspaces, higher payload-to-weight ratio and lower manufacturing costs rather than rigid-link robots. In this paper, the history of the development of CDPRs is introduced and several successful latest application cases of CDPRs are presented. The theory development of CDPRs is introduced focusing on design, performance analysis and control theory. Research on CDPRs gains wide attention and is highly motivated by the modern engineering demand for large load capacity and workspace. A number of exciting advances in CDPRs are summarized in this paper since it is proposed in the 1980 s, which points to a fruitful future both in theory and application. In order to meet the increasing requirements of robot in different areas, future steps foresee more in-depth research and extension applications of CDPRs including intelligent control, composite materials, integrated and reconfigurable design. 展开更多
关键词 Cable-driven parallel robots Design and modelling Control and planning Performance and optimization
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Error Modeling and Sensitivity Analysis of a Parallel Robot with SCARA(Selective Compliance Assembly Robot Arm) Motions 认领 引用 被引量：21
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作者 CHEN Yuzhen XIE Fugui +1 位作者 LIU Xinjun ZHOU Yanhua 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2014年第4期693-702,共10页
Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parall... Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration. 展开更多
关键词 parallel robot selective compliance assembly robot arm（SCARA） motions error modeling sensitivity analysis parallelogram structure
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Algebraic Method‑Based Point‑to‑Point Trajectory Planning of an Under‑Constrained Cable‑Suspended Parallel Robot with Variable Angle and Height Cable Mast 认领 引用 被引量：14
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作者 Tao Zhao Bin Zi +1 位作者 Sen Qian Jiahao Zhao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2020年第4期45-62,共18页
To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an und... To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated. 展开更多
关键词 Under-constrained cable-suspended parallel robot Variable angle and height cable mast Inverse kinematic and dynamic modeling Algebraic method Point-to-point trajectory planning
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Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping 认领 引用 被引量：5
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作者 Xianlei Shan Yuhang Li +1 位作者 Haitao Liu Tian Huang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2022年第1期62-69,共8页
Because of their elastic links and joints,high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy.An effective approach... Because of their elastic links and joints,high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy.An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots.After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints,a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maximum percentage of residual vibration at the end-effector.The input shaper allows a good overall performance to be achieved throughout the entire workspace.Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved. 展开更多
关键词 Pick-and-place parallel robot Residual vibration reduction Input shaping
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Construction and kinematic performance analysis of a suspension support for wind tunnel tests of spinning projectiles based on wire-driven parallel robot with kinematic redundancy 认领 引用 被引量：2
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作者 Zhou ZHU Lu SHI +2 位作者 Cong HE Lei ZHAN Qi LIN 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2024年第12期404-415,共12页
This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobi... This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobile platform.First,an SPM-centered mobile platform,featuring two redundant and another unconstrained Degree of Freedom(DOF),and its suspension support mechanism are designed together,collectively constructing a WDPR endowed with kinematic redundancy.Afterward,the kinematics of the mechanism,boundary equations for the redundant DOFs,and relevant kinematic performance indices are then proposed and formulated.The results from both prototype experiments and numerical assessments are presented.The capability of the support mechanism to replicate the complex coupled motions of the SPM is verified by the experimental results,while the proposed kinematics and boundary equations are also validated.Furthermore,it is revealed by numerical assessments that the redundant DOFs of the mobile platform exert a minimal impact on the kinematic performance of the suspension support.Finally,the optimal global attitude performance is obtained when these DOFs are set to zero if they are restricted to constants.However,local attitude performance can be further improved by the variable values. 展开更多
关键词 Suspension support Wire-Driven Parallel Robot(WDPR) Spinning Projectile Model(SPM) Wind tunnels Kinematic performance analysis Kinematic redundancy
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Velocity Constraints Based Approach for Online Trajectory Planning of High‑Speed Parallel Robots 认领 引用 被引量：2
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作者 Di Yang Fugui Xie Xinjun Liu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2022年第6期98-109,共12页
High-speed parallel robots have been extensively utilized in the light industry.However,the influence of the nonlinear dynamic characteristics of high-speed parallel robots on system’s dynamic response and stable ope... High-speed parallel robots have been extensively utilized in the light industry.However,the influence of the nonlinear dynamic characteristics of high-speed parallel robots on system’s dynamic response and stable operation cannot be ignored during the high-speed reciprocating motion.Thus,trajectory planning is essential for efficiency and stability from pick-and-place(PAP)actions.This paper presents a method for planning the equal-height pick-and-place trajectory considering velocity constraints to improve the PAP efficiency and stability of high-speed parallel robots.The velocity constraints in the start-and-end points can reduce vibration from picking and placing,making the trajectory more suitable to complex beltline situations.Based on velocity constraints,trajectory optimization includes trajectory smoothness and joint torque to optimize cycle time is carried out.This paper proposes an online trajectory optimization solution.By using back propagation(BP)neural networks,the solution is simplified and can be solved in real-time.Simulation and experiments were carried out on the SR4 parallel robot.The results show that the proposed method improves the efficiency,smoothness,and stability of the robot.This paper proposes an online trajectory planning method which is velocity constraints based and can improve the efficiency and stability of high-speed parallel robots.The work of this research is conducive to finely applying high-speed parallel robots. 展开更多
关键词 Trajectory planning High-speed parallel robot Velocity constraints BP neural network
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Error modeling of 3-RSR parallel robot based on D-H transformation matrix 认领 引用 被引量：4
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作者 李瑞琴 杨斌 《Journal of Measurement Science and Instrumentation》 CAS 2014年第3期53-59,2,共7页
By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （... By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （D-H） transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation. 展开更多
关键词 error modeling 3-RSR parallel robot Denavit-Hartenberg （D-H） transformation matrix
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Design and Analysis of a Novel Sch?nflies Motion Parallel Robot with Full Cycle Rotation 认领 引用
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作者 Luquan Li Yuefa Fang +1 位作者 Lin Wang Jiaqiang Yao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2024年第6期441-455,共15页
Due to the complex structures of multi-limbed parallel robots,conventional parallel robots generally have limited workspace,complex kinematics,and complex dynamics,which increases the application difficulty of paralle... Due to the complex structures of multi-limbed parallel robots,conventional parallel robots generally have limited workspace,complex kinematics,and complex dynamics,which increases the application difficulty of parallel robot in industrial engineering.To solve the above problems,this paper proposes a single-loop Sch?nflies motion parallel robot with full cycle rotation,the robot can generate Sch?nflies motion by the most simplified structure.The novel Sch?nflies motion parallel robot is a two-limb parallel mechanism with least links and joints,and each limb is driven by a 2-degree of freedom(DOF)cylindrical driver(C-driver).The full cycle rotation of the output link is achieved by“…R-H…”structure,where the revolute(R)and helical(H)joints are coaxial.Mobility,kinematics,workspace and singularity analysis of the novel Sch?nflies motion parallel robot are analyzed.Then,dynamic model is formulated based on the principle of virtual work.Moreover,a pick-and-place task is implemented by the proposed Sch?nflies motion parallel robot and a serial SCARA robot,respectively.The simulation results verify the correctness of the theoretical model.Furthermore,dynamics performances of the proposed Sch?nflies motion parallel robot and a serial SCARA robot are compared,which reveal the performance merits of the proposed Sch?nflies motion parallel robot. 展开更多
关键词 Single-loop parallel robot Schönflies motion Virtual work principle Dynamics
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Exact Computation of Parallel Robot's Generalized Inertia Matrix 认领 引用
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作者 赵永杰 杨志永 +1 位作者 梅江平 黄田 《Transactions of Tianjin University》 EI CAS 2005年第6期395-399,共5页
According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot＇s g... According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot＇s generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element distribution of the Delta robot＇s inertia matrix in the workspace is studied. The method has computationa＇, advantage of numerical accuracy for the Delta robot and can be parallelized easily. 展开更多
关键词 generalized inertia matrix no-gravity static and accelerated states parallel robot inverse dynamics, principle of virtual work
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Structural design, analysis and performance evaluation of a novel planar parallel robot: theory and experiment 认领 引用
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作者 Ding Qinyong Sun Lining +1 位作者 Liu Xinyu Ji Junhong 《High Technology Letters》 EI CAS 2005年第3期229-234,共6页
The structural design, analysis and experimental verification of a novel planar parallel robot that includes parallelogram linkages are reported in this paper. A design methodology combining finite element analysis （... The structural design, analysis and experimental verification of a novel planar parallel robot that includes parallelogram linkages are reported in this paper. A design methodology combining finite element analysis （FEA） and flexible dynamics is employed in the analysis. The appropriate natural frequencies of robot throughout workspaee are predicted, and the effects of payload, flexibility of joints, cross section and orientations of robot on the natural frequency are analyzed by simulation. Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration characteristics throughout the workspace. The experiment also proves the robot＇s performance under a fuzzy self-tuning PI controller. 展开更多
关键词 parallel robot structural analysis finite element analysis （FEA） natural frequency fuzzy PI control
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Study on singularity analysis with differential transform method for 3-RRUR parallel robot based on Jacobian matrix 认领 引用
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作者 董悫 蒋志宏 黄强 《Journal of Beijing Institute of Technology》 EI CAS 2011年第3期372-378,共7页
Parallel robot is used in many different fields nowadays, but the singularity of 3-RRUR parallel robot is more complicated, so a method to analyze the singularity of the 3-RRUR parallel robot is very necessary. First,... Parallel robot is used in many different fields nowadays, but the singularity of 3-RRUR parallel robot is more complicated, so a method to analyze the singularity of the 3-RRUR parallel robot is very necessary. First, the Jacobian matrix was built based on the differential transform method through the transfer matrixes between the poles. The connection between the position parameters and singularity condition was built through the analysis of the Jacobian matrix. Second, the effect on the singularity from the position parameters was analyzed, and then the singularity condition was confirmed. The effect on the singularity condition from position parameters was displayed by the curved surface charts to provide a basic method for the designing of the parallel robot. With this method, the singularity condition could be got when the length of each link is firmed, so it can be judged that if a group of parameters are appropriate or not, and the method also provides warrant for workspace and path planning of the parallel robot. 展开更多
关键词 Jacobian matrix parallel robot singularity
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Kinematic Analysis and Design of a 3-DOF Translational Parallel Robot 认领 引用 被引量：23
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作者 Mahmood Mazare Mostafa Taghizadeh M. Rasool Najafi 《International Journal of Automation and computing》 CSCD 2017年第4期432-441,共10页
Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restric... Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems （ADAMS） software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index （GDI） of the robot is calculated using Jacobean matrix at different positions of the mobile platform. 展开更多
关键词 Kinematic analysis parallel robot workspace manipulability dexterity.
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Review on Control Strategies for Cable-Driven Parallel Robots with Model Uncertainties 认领 引用 被引量：2
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作者 Xiang Jin Haifeng Zhang +1 位作者 Liqing Wang Qinchuan Li 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2024年第6期1-17,共17页
Cable-driven parallel robots(CDPRs)use cables instead of the rigid limbs of traditional parallel robots,thus processing a large potential workspace,easy to assemble and disassemble characteristics,and with application... Cable-driven parallel robots(CDPRs)use cables instead of the rigid limbs of traditional parallel robots,thus processing a large potential workspace,easy to assemble and disassemble characteristics,and with applications in numerous fields.However,owing to the influence of cable flexibility and nonlinear friction,model uncertainties are di cult to eliminate from the control design.Hence,in this study,the model uncertainties of CDPRs are first analyzed based on a brief introduction to related research.Control strategies for CDPRs with model uncertainties are then reviewed.The advantages and disadvantages of several control strategies for CDPRS are discussed through traditional control strategies with kinematic and dynamic uncertainties.Compared with these traditional control strategies,deep reinforcement learning and model predictive control have received widespread attention in recent years owing to their model independence and recursive feasibility with constraint limits.A comprehensive review and brief analysis of current advances in these two control strategies for CDPRs with model uncertainties are presented,concluding with discussions regarding development directions. 展开更多
关键词 Cable-driven parallel robots Model uncertainties Control strategy Reinforcement learning Modelpredictive control Kinematics Dynamics
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Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation 认领 引用 被引量：2
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作者 Ferdaws Ennaiem Abdelbadia Chaker +5 位作者 Juan Sandoval Sami Bennour Abdelfattah Mlika Lotfi Romdhane Said Zeghloul Med Amine Laribi 《Journal of Bionic Engineering》 SCIE EI CSCD 2022年第2期390-402,共13页
An assessment of the human motion repeatability for three selected Activities of Daily Living(ADL)is performed in this paper.These exercises were prescribed by an occupational therapist for the upper limb rehabilitati... An assessment of the human motion repeatability for three selected Activities of Daily Living(ADL)is performed in this paper.These exercises were prescribed by an occupational therapist for the upper limb rehabilitation.The movement patterns of five participants,recorded using a Qualisys motion capture system,are compared based on the Analysis of Variance(ANOVA)method.This survey is motivated by the need to find the appropriate task workspace of a 6-degrees of freedom cable-driven parallel robot for upper limb rehabilitation,which is able to reproduce the three selected exercises.This comparison is performed to justify,whether or not,there is enough similarity between the participants’gestures,and so a single reference trajectory can be adopted as the robot-prescribed workspace.Using the results of the comparative study,an optimization process of the sought robot design is carried out,where the structure size and the cable tensions simultaneously minimized. 展开更多
关键词 Human motion repeatability Activities of Daily Living(ADL) Analysis of Variance(ANOVA) Task workspace Cable-driven parallel robot Upper limb rehabilitation Optimization
Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller 认领 引用 被引量：3
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作者 Auday Al-Mayyahi Ammar A.Aidair Chris Chatwin 《International Journal of Automation and computing》 CSCD 2020年第6期822-836,共15页
3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications.Thus,robust and stable control is required to deliver high accuracy in comparison to the s... 3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications.Thus,robust and stable control is required to deliver high accuracy in comparison to the state of the art.The operation of the mechanism is achieved based on three revolute(3-RRR)joints which are geometrically designed using an open-loop spatial robotic platform.The inverse kinematic model of the system is derived and analyzed by using the geometric structure with three revolute joints.The main variables in our design are the platform base positions,the geometry of the joint angles,and links of the 3-RRR planar parallel robot.These variables are calcula ted based on Cayley-Menger determinants and bilateration to det ermine the final position of the platform when moving and placing objects.Additionally,a proposed fractional order proportional integral derivative(FOPID)is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot.The design is compared with the state of the art and simulated using the Matlab environment to validate the effectiveness of the proposed controller.Furthermore,real-time implementation has been tested to prove that the design performance is practical. 展开更多
关键词 3-RRR planar parallel robot Cayley-Menger determinants inverse kinematic model bilateration fraction order proportional integral derivate(PID)controller bat optimization algorithm.
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CONTINUATION METHOD APPLIED IN KINEMATICS OF PARALLEL ROBOT 认领 引用 被引量：1
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作者 DONG Bin +1 位作者 ZHANG Xiang-de 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2001年第12期1422-1428,共7页
Continuation method solving forward kinematics problem of parallel robot was discussed. And through a coefficient-parameter continuation method the efficiency and feasibility of continuation method were improved. Usin... Continuation method solving forward kinematics problem of parallel robot was discussed. And through a coefficient-parameter continuation method the efficiency and feasibility of continuation method were improved. Using this method all forward solutions of a new parallel robot model which was put forward lately by Robot Open Laboratory of Science Institute of China were obtained. Therefore it provided the basis of mechanism analysis and real-time control for new model. 展开更多
关键词 continuation method parallel robot kinematics generic continuation coefficient-parameter continuation
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Solution and Application about Conversion Tensor of Motion in Dynamic Modeling of 6-HTRT Parallel Robot 认领 引用
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作者 罗冰 陆念力 车仁炜 《Journal of Donghua University(English Edition)》 EI CAS 2009年第3期230-234,共5页
Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to con... Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to confirm Jacobian matrix reflecting relations of all joints,nodes,and generalized coordinates,namely,relations of second-order and corresponding third-order conversion tensors. For complex motion relations of components in a parallel robot,it gives second-order and third-order conversion tensors of dynamic equations for the 6-HTRT parallel robot based on equivalent integrated finite element method. The method is suitable for the typical robots whose positions of work space and sizes of mechanism are different. The solving course of the method is simple and convenient,so the method lays the foundation of dynamic analysis for robots. 展开更多
关键词 parallel robot dynamic model conversion tensor
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Workspace optimization of parallel robot by using multi-objective genetic algorithm 认领 引用
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作者 WANG Jinhong LEI Jingtao 《High Technology Letters》 EI CAS 2022年第4期411-417,共7页
For the narrow workspace problem of the universal-prismatic-universal(UPU)parallel robotwith fixed orientation,a kind of multi-objective genetic algorithm is studied to optimize the robot’sworkspace.The concept of th... For the narrow workspace problem of the universal-prismatic-universal(UPU)parallel robotwith fixed orientation,a kind of multi-objective genetic algorithm is studied to optimize the robot’sworkspace.The concept of the effective workspace and its solution method are given.The effectiveworkspace height(EWH)and global condition number index(GCI)of Jacobi matrix are selected asthe optimized objective functions.Setting the robot in two different orientations,the geometric pa-rameters are optimized by the multi-objective genetic algorithm named non-dominated sorting geneticalgorithm II(NSGA-II),and a set of structural parameters is obtained.The optimization results areverified by four indicators with the robot’s moving platform at different orientations.The resultsshow that,after optimization,the fixed-orientation workspace volume,the effective workspace heightand the effective workspace volume increase by 32.4%,17.8%and 72.9%on average,respec-tively.GCI decreases by 6.8%on average. 展开更多
关键词 parallel robot multi-objective genetic algorithm workspace optimization
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