0
Research Papers: Design of Mechanisms and Robotic Systems

Unified Kinematics Analysis and Low-Velocity Driving Optimization for Parallel Hip Joint Manipulator

[+] Author and Article Information
Song-Tao Wang

Automotive Engineering Department,
Chengde Petroleum College,
Chengde University Park,
Chengde, Hebei 067000, China;
School of Mechanical and Electrical Engineering,
China University of Mining and Technology,
No. 1, University Road,
Xuzhou, Jiangsu 221116, China
e-mail: santeer@foxmail.com

Gang Cheng

School of Mechanical and Electrical Engineering,
China University of Mining and Technology,
No. 1, University Road,
Xuzhou, Jiangsu 221116, China
e-mail: chg@cumt.edu.cn

De-Hua Yang

National Astronomical Observatories/Nanjing
Institute of Astronomical Optics and Technology,
Chinese Academy of Sciences,
No. 188, Bancang Street,
Nanjing, Jiangsu 210042, China
e-mail: dhyang@niaot.ac.cn

Jian-Hua Yang

School of Mechanical and Electrical Engineering,
China University of Mining and Technology,
No. 1, University Road,
Xuzhou, Jiangsu 221116, China
e-mail: jianhuayang@cumt.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received September 15, 2014; final manuscript received April 17, 2015; published online June 8, 2015. Assoc. Editor: Matthew B. Parkinson.

J. Mech. Des 137(8), 082301 (Aug 01, 2015) (11 pages) Paper No: MD-14-1581; doi: 10.1115/1.4030433 History: Received September 15, 2014; Revised April 17, 2015; Online June 08, 2015

Unified modeling for the kinematics analysis of a parallel hip joint manipulator (PHJM) is proposed, and structural parameters of the PHJM are optimized based on the unified model for obtaining low-velocity driving performance. Based on the finite element theory, a unified model for kinematics analysis is established, and the Monte Carlo method is subsequently proposed to solve the workspace for the PHJM. To optimize the workspace, a 6 surface-14 point (6 S-14 P) method is proposed to judge whether the workspace includes the task space. The structural parameters are further optimized to obtain low-velocity driving performance, and the motion performances of the PHJM with the optimal parameter are numerically simulated. The velocity simulation results demonstrate that the maximum relative velocity of the PHJM with the optimal parameter decreases by 23.2%. The unified kinematics analysis and low-velocity driving optimization effectively improve the performance for the PHJM and enrich the optimization theory for parallel manipulators with high velocities and given tasks.

FIGURES IN THIS ARTICLE
<>
Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.

References

Özgür, E., Nicolas, A., and Philippe, M., 2013, “Linear Dynamic Modeling of Parallel Kinematic Manipulators From Observable Kinematic Elements,” Mech. Mach. Theory, 69(11), pp. 73–89. [CrossRef]
Lu, Y., and Hu, B., 2007, “Analyzing Kinematics and Solving Active/Constrained Forces of a 3SPU + UPR Parallel Manipulator,” Mech. Mach. Theory, 42(10), pp. 1298–1313. [CrossRef]
Zhang, D., and Gao, Z., 2012, “Forward kinematics, Performance Analysis, and Multi-Objective Optimization of a Bio-Inspired Parallel Manipulator,” Rob. Comput. Integr. Manuf., 28(4), pp. 484–492. [CrossRef]
Abbasnejad, G., Daniali, H. M., and Fathi, A., 2012, “Closed Form Solution for Direct Kinematics of a 4PUS + 1PS Parallel Manipulator,” Sci. Iran., 19(2), pp. 320–326. [CrossRef]
Cheng, G., Yu, J. L., and Gu, W., 2012, “Kinematic Analysis of 3SPS + 1PS Bionic Parallel Test Platform for Hip Joint Manipulator Based on Unit Quaternion,” Rob. Comput. Integr. Manuf., 28(2), pp. 257–264. [CrossRef]
Gan, D. M., Liao, Q. Z., Dai, J. S., and Wei, S. M., 2010, “Design and Kinematics Analysis of a New 3CCC Parallel Mechanism,” Robotica, 28(7), pp. 1065–1072. [CrossRef]
Jaime, G., Raúl, L., José, M. R., and Gürsel, A., 2011, “The Kinematics of Modular Spatial Hyper-Redundant Manipulators Formed From RPS-Type Limbs,” Rob. Auton. Syst., 59(1), pp. 12–21. [CrossRef]
Javad, E., and Alireza, A. T., 2010, “A Novel Approach for Forward Position Analysis of a Double-Triangle Spherical Parallel Manipulator,” Eur. J. Mech.-A/Solids, 29(3), pp. 348–355. [CrossRef]
Dhingra, A. K., Almadi, A. N., and Kohli, D., 2001, “Closed-Form Displacement and Coupler Curve Analysis of Planar Multi-Loop Mechanisms Using Gröbner Bases,” Mech. Mach. Theory, 36(2), pp. 273–298. [CrossRef]
Merlet, J. P., 2006, “Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots,” ASME J. Mech. Des., 128(1), pp. 199–206. [CrossRef]
Gosselin, C. M., 1990, “Determination of the Workspace of 6-DOF Parallel Manipulators,” ASME J. Mech. Des., 112(3), pp. 331–336. [CrossRef]
Mazen, Z., Philippe, W., and Damien, C., 2006, “An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators With Geometric Simplifications,” Mech. Mach. Theory, 41(8), pp. 971–986. [CrossRef]
Jin, Y., Chen, I. M., and Yang, G. L., 2011, “Workspace Evaluation of Manipulators Through Finite-Partition of SE(3),” Rob. Comput. Integr. Manuf., 27(4), pp. 850–859. [CrossRef]
Tsai, K. Y., Lo, I. T., and Lin, P. J., 2014, “Compatible Reachable Workspaces of Symmetrical Stewart-Gough Parallel Manipulators,” Mech. Mach. Theory, 77(7), pp. 111–121. [CrossRef]
Zhao, J. S., Chen, M., Zhou, K., Dong, J. X., and Feng, Z. J., 2006, “Workspace of Parallel Manipulators With Symmetric Identical Kinematic Chains,” Mech. Mach. Theory, 41(6), pp. 632–645. [CrossRef]
Rezaei, A., Akbarzadeh, A., Nia, P. M., and Akbarzadeh, T. M., 2013, “Position, Jacobian and Workspace Analysis of a 3-PSP Spatial Parallel Manipulator,” Rob. Comput. Integr. Manuf., 29(4), pp. 158–173. [CrossRef]
Panda, S., Mishra, D., and Biswal, B. B., 2013, “Revolute Manipulator Workspace Optimization: A Comparative Study,” Appl. Soft Comput., 13(2), pp. 899–910. [CrossRef]
Serdar, K., 2009, “A Dexterity Comparison for 3-DOF Planar Parallel Manipulators With Two Kinematic Chains Using Genetic Algorithms,” Mechatronics, 19(6), pp. 868–877. [CrossRef]
Metin, T., and Serdar, K., 2013, “Dexterous Workspace Optimization of an Asymmetric Six-Degree of Freedom Stewart–Gough Platform Type Manipulator,” Rob. Auton. Syst., 61(12), pp. 1516–1528. [CrossRef]
Stamper, R. E., Tsai, L. W., and Walsh, G. C., 1997, “Optimization of a Three DOF Translational Platform for Well-Conditioned Workspace,” IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3250–3255.

Figures

Grahic Jump Location
Fig. 1

The PHJM: (a) prototype of the PHJM and (b) topology of the PHJM

Grahic Jump Location
Fig. 2

Motive rule of the PHJM

Grahic Jump Location
Fig. 3

Task-space of the PHJM

Grahic Jump Location
Fig. 4

Schematic view of the task-space and workspace: (a) task-space and workspace and (b) projection of the two spaces

Grahic Jump Location
Fig. 7

Workspace optimization flow

Grahic Jump Location
Fig. 8

Low-velocity driving optimization flow

Grahic Jump Location
Fig. 9

Workspace and task-space projection: (a) γ = 25 deg projection, (b) γ = −25 deg projection, (c) β = 10 deg projection, (d) β = 10 deg projection, (e) α = 10 deg projection, and (f) α = 10 deg projection

Grahic Jump Location
Fig. 10

Driving velocity results: (a) velocity of driving leg 1, (b) velocity of driving leg 2, and (c) velocity of driving leg 3

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In