This paper presents a velocity-level approach to optimizing the parasitic motion of 3-degrees of freedom (DoFs) parallel manipulators. To achieve this objective, we first systematically derive an analytical velocity-level parasitic motion equation as a primary step for the optimization. The paper utilizes an analytic structural constraint equation that describes the manipulator’s restriction space to formulate the parasitic motion equation via the task variable coupling relation. Then, the relevant geometric variables are identified from the analytic coupling equation. The Quasi-Newton method is used for the direction-specific minimization, i.e., optimizing either the x-axis or y-axis parasitic motion. The pattern-search algorithm is applied to optimize all parasitic terms from the workspace. The proposed approach equivalently describes the 3-PhRS, 3-PvRS, 3RPS manipulators. Moreover, other manipulators within a similar category can be equivalently expressed by the proposed method. Finally, the paper presents the resulting optimum configurations and numerical simulations to demonstrate the approach


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Optimization of 3-DoF Manipulators' Parasitic Motion with the Instantaneous Restriction Space-Based Analytic Coupling Relation


    Beteiligte:

    Erscheinungsdatum :

    2021-05-20


    Anmerkungen:

    oai:zenodo.org:4879814
    Applied Sciences 11(10) 22



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Modeling and identification of impact dynamics of robot manipulators with instantaneous joint motion

    Yoshida, K. / Mavroidis, C. / Dubowsky, S. | British Library Online Contents | 1998


    Instantaneous Kinematics of General Hybrid Parallel Manipulators

    Etemadi-Zanganeh, K. | Online Contents | 1995


    Motion Capability Optimization of Space Manipulators with Free-Swinging Joint Failure

    Fu, Yingzhuo / Jia, Qingxuan / Chen, Gang et al. | ASCE | 2023


    Motion planning for the large space manipulators with complicated dynamics

    Belousov, I. / Esteves, C. / Laumond, J.P. et al. | Tema Archiv | 2005


    Optimization of dynamic testing of space manipulators

    Kujath, M.R. / Akpan, U.O. | Tema Archiv | 1994