Design of a spherical parallel robotic wrist mechanism
This document presents the process of design, manufacturing, and testing of a coaxial spherical parallel manipulator as the mechanism for a robotic wrist. To achieve this, a kinematic model of the mechanism was developed from which was possible to determine the best parameters to guarantee the desir...
- Autores:
-
Fernández Mier, Mateo De Jesús
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2024
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/74242
- Acceso en línea:
- https://hdl.handle.net/1992/74242
- Palabra clave:
- Parallel robotics
Spherical parallel manipulator
Kinematics
Dexterity analysis
Robotic wrist
Ingeniería
- Rights
- openAccess
- License
- Attribution-NonCommercial 4.0 International
| id |
UNIANDES2_44f0b655ba995a8ab29c81695609d81f |
|---|---|
| oai_identifier_str |
oai:repositorio.uniandes.edu.co:1992/74242 |
| network_acronym_str |
UNIANDES2 |
| network_name_str |
Séneca: repositorio Uniandes |
| repository_id_str |
|
| dc.title.eng.fl_str_mv |
Design of a spherical parallel robotic wrist mechanism |
| title |
Design of a spherical parallel robotic wrist mechanism |
| spellingShingle |
Design of a spherical parallel robotic wrist mechanism Parallel robotics Spherical parallel manipulator Kinematics Dexterity analysis Robotic wrist Ingeniería |
| title_short |
Design of a spherical parallel robotic wrist mechanism |
| title_full |
Design of a spherical parallel robotic wrist mechanism |
| title_fullStr |
Design of a spherical parallel robotic wrist mechanism |
| title_full_unstemmed |
Design of a spherical parallel robotic wrist mechanism |
| title_sort |
Design of a spherical parallel robotic wrist mechanism |
| dc.creator.fl_str_mv |
Fernández Mier, Mateo De Jesús |
| dc.contributor.advisor.none.fl_str_mv |
Rodriguez Herrera, Carlos Francisco |
| dc.contributor.author.none.fl_str_mv |
Fernández Mier, Mateo De Jesús |
| dc.contributor.jury.none.fl_str_mv |
Sedano Quiroz, Camilo Andrés Mateus Sandoval, Luis Mario |
| dc.subject.keyword.eng.fl_str_mv |
Parallel robotics Spherical parallel manipulator Kinematics Dexterity analysis Robotic wrist |
| topic |
Parallel robotics Spherical parallel manipulator Kinematics Dexterity analysis Robotic wrist Ingeniería |
| dc.subject.themes.none.fl_str_mv |
Ingeniería |
| description |
This document presents the process of design, manufacturing, and testing of a coaxial spherical parallel manipulator as the mechanism for a robotic wrist. To achieve this, a kinematic model of the mechanism was developed from which was possible to determine the best parameters to guarantee the desired performance. All together with the use of 3D printing as manufacturing method, and the development of a simulation environment and a GUI for the proper control of the device, different types of positions and movements of the mechanism were tested. |
| publishDate |
2024 |
| dc.date.accessioned.none.fl_str_mv |
2024-05-28T13:02:23Z |
| dc.date.available.none.fl_str_mv |
2024-05-28T13:02:23Z |
| dc.date.issued.none.fl_str_mv |
2024-04-29 |
| dc.type.none.fl_str_mv |
Trabajo de grado - Pregrado |
| dc.type.driver.none.fl_str_mv |
info:eu-repo/semantics/bachelorThesis |
| dc.type.version.none.fl_str_mv |
info:eu-repo/semantics/acceptedVersion |
| dc.type.coar.none.fl_str_mv |
http://purl.org/coar/resource_type/c_7a1f |
| dc.type.content.none.fl_str_mv |
Text |
| dc.type.redcol.none.fl_str_mv |
http://purl.org/redcol/resource_type/TP |
| format |
http://purl.org/coar/resource_type/c_7a1f |
| status_str |
acceptedVersion |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/1992/74242 |
| dc.identifier.instname.none.fl_str_mv |
instname:Universidad de los Andes |
| dc.identifier.reponame.none.fl_str_mv |
reponame:Repositorio Institucional Séneca |
| dc.identifier.repourl.none.fl_str_mv |
repourl:https://repositorio.uniandes.edu.co/ |
| url |
https://hdl.handle.net/1992/74242 |
| identifier_str_mv |
instname:Universidad de los Andes reponame:Repositorio Institucional Séneca repourl:https://repositorio.uniandes.edu.co/ |
| dc.language.iso.none.fl_str_mv |
eng |
| language |
eng |
| dc.relation.references.none.fl_str_mv |
Shaoping Bai. “Optimum design of spherical parallel manipulators for a prescribed workspace”. In: Mechanism and Machine Theory 45 (2 Feb. 2010), pp. 200–211. issn: 0094114X. doi: 10 . 1016 / j . mechmachtheory .2009.06.007. Shaoping Bai, Michael R. Hansen, and Torben O. Andersen. “Modelling of a special class of spherical parallel manipulators with Euler parameters”. In: Robotica 27 (2 Mar. 2009), pp. 161–170. issn: 02635747. doi: 10.1017/ S0263574708004402. Lionel Birglen et al. “SHaDe, A new 3-DOF haptic device”. In: IEEE Transactions on Robotics and Automation 18 (2 Apr. 2002), pp. 166–175. issn: 1042296X. doi: 10.1109/TRA.2002.999645. John J Craig. Introduction to robotics : Mechanics and Control. 3rd edition. Pearson, 2005. isbn: 0201543613. Xuechao Duan, Yongzhi Yang, and Bi Cheng. “Modeling and analysis of a 2-DOF spherical parallel manipulator”. In: Sensors (Switzerland) 16 (9 Sept. 2016). issn: 14248220. doi: 10.3390/s16091485. Carlos Francisco and Rodriguez Herrera. Dinámica Mecánica. 2021. Clement Gosselin and Jing Wang. “Singularity Loci ofa Special Class of-Spherical Three-degree-of-freedom ParallelMechanisms with Revolute Actuators”. In: The International Journal of Robotics Research Vol. 21 (No. 7 2002), pp. 649–659. Clement M. Gosselin and Eric Lavoie. “On the kinematic design of spherical three-degree-of-freedom parallel manipulators”. In: International Journal of Robotics Research 12 (4 1993), pp. 394–402. issn: 02783649. doi: 10.1177/027836499301200406. Clement M. Gosselin, Eric St. Pierre, and Martin Cagne. “On the Development of the Agile Eye”. In: IEEE Robotics Automation Magazine (1996). Dino Hüllmann et al. “Control of a spherical parallel manipulator”. In: Materials Today: Proceedings 12 (2019), pp. 423–430. url: www.sciencedirect.comwww.materialstoday.com/proceedings2214-7853. Kevin (Kevin M.) Lynch and Frank C. Park. Modern robotics : Mechanics, Planning, and Control. 2017. isbn: 9781107156302. J. P. Merlet. “Jacobian, manipulability, condition number, and accuracy of parallel robots”. In: Journal of Mechanical Design 128 (1 2006), pp. 199–206. issn: 10500472. doi: 10.1115/1.2121740. J.P Merlet. Parallel Robots. Second. Springer, 2006. Aibek Niyetkaliyev and Almas Shintemirov. “An Approach for Obtaining Unique Kinematic Solutions of a Spherical Parallel Manipulator”. In: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2014). Aibek Niyetkaliyev and Almas Shintemirov. “An Approach for Obtaining Unique Kinematic Solutions of a Spherical Parallel Manipulator”. In: 2014 IEEE/ASME International Conference onAdvanced Intelligent Mechatronics (AIM) (2019). Soheil Sadeqi et al. “Design and performance analysis of a 3-RRR spherical parallel manipulator for hip exoskeleton applications”. In: Journal of Rehabilitation and Assistive Technologies Engineering 4 (Jan. 2017), p. 205566831769759. issn: 2055-6683. doi: 10.1177/2055668317697596. Almas Shintemirov, Aibek Niyetkaliyev, and Matteo Rubagotti. “Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions”. In: IEEE/ASME Transactions on Mechatronics 21 (1 Feb. 2016), pp. 98–109. issn: 10834435. doi: 10.1109/TMECH.2015.2474707. Bruno Siciliano and Oussama Khatib. Springer Handbook of Robotics. eng. 2nd ed. 2017. Springer Handbooks. Cham: Springer International Publishing AG, 2016. isbn: 9783319325507. Mark W Spong, Seth Hutchinson, and M Vidyasagar. Robot Modeling and Control First Edition. First. Wiley, 2005 Tasbolat Taunyazov, Matteo Rubagotti, and Almas Shintemirov. “Constrained orientation control of a spherical parallel manipulator via online convex optimization”. In: IEEE/ASME Transactions on Mechatronics 23 (1 Feb. 2018), pp. 252–261. issn: 10834435. doi: 10.1109/TMECH.2017.2774245. Iliyas Tursynbek, Aibek Niyetkaliyev, and Almas Shintemirov. “Computation of Unique Kinematic Solutions of a Spherical Parallel Manipulator with Coaxial Input Shafts”. In: IEEE 15th International Conference on Automation Science and Engineering (CASE) (Aug. 2019). url: www.solidworks.com. Iliyas Tursynbek and Almas Shintemirov. “Infinite rotational motion generation and analysis of a spherical parallel manipulator with coaxial input axes”. In: Mechatronics 78 (Oct. 2021). issn: 09574158. doi: 10.1016/j.mechatronics.2021.102625. Iliyas Tursynbek and Almas Shintemirov. “Infinite Torsional Motion Generation of a Spherical Parallel Manipulator with Coaxial Input Axes”. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2020). Koji Ueda et al. “Design of large motion range and heavy duty 2-DOF spherical parallel wrist mechanism”. In: Journal of Robotics and Mechatronics 25 (2 2013), pp. 294–305. issn: 18838049. doi: 10.20965/jrm.2013. p0294. Guanglei Wu and Shaoping Bai. “Design and kinematic analysis of a 3-RRR spherical parallel manipulator reconfigured with four–bar linkages”. In: Robotics and Computer Integrated Manufacturing (2018). Guanglei Wu et al. “Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator”. In: Robotics and Autonomous Systems 62 (10 2014), pp. 1377–1386. issn: 09218890. doi: 10 . 1016 / j . robot .2014.06.006. |
| dc.rights.en.fl_str_mv |
Attribution-NonCommercial 4.0 International |
| dc.rights.uri.none.fl_str_mv |
http://creativecommons.org/licenses/by-nc/4.0/ |
| dc.rights.accessrights.none.fl_str_mv |
info:eu-repo/semantics/openAccess |
| dc.rights.coar.none.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 |
| rights_invalid_str_mv |
Attribution-NonCommercial 4.0 International http://creativecommons.org/licenses/by-nc/4.0/ http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.extent.none.fl_str_mv |
73 páginas |
| dc.format.mimetype.none.fl_str_mv |
application/pdf |
| dc.publisher.none.fl_str_mv |
Universidad de los Andes |
| dc.publisher.program.none.fl_str_mv |
Ingeniería Mecánica |
| dc.publisher.faculty.none.fl_str_mv |
Facultad de Ingeniería |
| dc.publisher.department.none.fl_str_mv |
Departamento de Ingeniería Mecánica |
| publisher.none.fl_str_mv |
Universidad de los Andes |
| institution |
Universidad de los Andes |
| bitstream.url.fl_str_mv |
https://repositorio.uniandes.edu.co/bitstreams/0c700f6e-efb7-4b82-8353-e5b30ce0f82d/download https://repositorio.uniandes.edu.co/bitstreams/8473e64e-3018-4557-99e7-f3ea73cfd335/download https://repositorio.uniandes.edu.co/bitstreams/0e7300b1-6a8b-47dd-8823-ae6a8b4f68d1/download https://repositorio.uniandes.edu.co/bitstreams/3c5e2933-687c-48ee-8b3e-d020535fae4f/download https://repositorio.uniandes.edu.co/bitstreams/bdc5a0f8-74de-441e-95bc-87c4df579ba1/download https://repositorio.uniandes.edu.co/bitstreams/328708ac-fc7c-4d63-8673-1733805e384b/download https://repositorio.uniandes.edu.co/bitstreams/dc8c23a0-0d5a-44a2-84c3-d520d1fb0e3f/download https://repositorio.uniandes.edu.co/bitstreams/2e929018-6da4-483c-9c28-2e353461bb1f/download |
| bitstream.checksum.fl_str_mv |
268476ad7cc9a69530af9a38964a019b 3b477c38f27e8b9211adaaf2e6bc5602 24013099e9e6abb1575dc6ce0855efd5 ae9e573a68e7f92501b6913cc846c39f 6cb2fbabcc53cc81cc58630cadf8061f 0ccf2b6d1ec76ce8d9c0441a02b1d876 70f34d5702bd21fb6a89699dbe2cca9a e32fe2ee08c42307e9758ee484b735b6 |
| bitstream.checksumAlgorithm.fl_str_mv |
MD5 MD5 MD5 MD5 MD5 MD5 MD5 MD5 |
| repository.name.fl_str_mv |
Repositorio institucional Séneca |
| repository.mail.fl_str_mv |
adminrepositorio@uniandes.edu.co |
| _version_ |
1812133941779365888 |
| spelling |
Al consultar y hacer uso de este recurso, está aceptando las condiciones de uso establecidas por los autoresAttribution-NonCommercial 4.0 Internationalhttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Rodriguez Herrera, Carlos FranciscoFernández Mier, Mateo De JesúsSedano Quiroz, Camilo AndrésMateus Sandoval, Luis Mario2024-05-28T13:02:23Z2024-05-28T13:02:23Z2024-04-29https://hdl.handle.net/1992/74242instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/This document presents the process of design, manufacturing, and testing of a coaxial spherical parallel manipulator as the mechanism for a robotic wrist. To achieve this, a kinematic model of the mechanism was developed from which was possible to determine the best parameters to guarantee the desired performance. All together with the use of 3D printing as manufacturing method, and the development of a simulation environment and a GUI for the proper control of the device, different types of positions and movements of the mechanism were tested.Pregrado73 páginasapplication/pdfengUniversidad de los AndesIngeniería MecánicaFacultad de IngenieríaDepartamento de Ingeniería MecánicaDesign of a spherical parallel robotic wrist mechanismTrabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPParallel roboticsSpherical parallel manipulatorKinematicsDexterity analysisRobotic wristIngenieríaShaoping Bai. “Optimum design of spherical parallel manipulators for a prescribed workspace”. In: Mechanism and Machine Theory 45 (2 Feb. 2010), pp. 200–211. issn: 0094114X. doi: 10 . 1016 / j . mechmachtheory .2009.06.007.Shaoping Bai, Michael R. Hansen, and Torben O. Andersen. “Modelling of a special class of spherical parallel manipulators with Euler parameters”. In: Robotica 27 (2 Mar. 2009), pp. 161–170. issn: 02635747. doi: 10.1017/ S0263574708004402.Lionel Birglen et al. “SHaDe, A new 3-DOF haptic device”. In: IEEE Transactions on Robotics and Automation 18 (2 Apr. 2002), pp. 166–175. issn: 1042296X. doi: 10.1109/TRA.2002.999645.John J Craig. Introduction to robotics : Mechanics and Control. 3rd edition. Pearson, 2005. isbn: 0201543613.Xuechao Duan, Yongzhi Yang, and Bi Cheng. “Modeling and analysis of a 2-DOF spherical parallel manipulator”. In: Sensors (Switzerland) 16 (9 Sept. 2016). issn: 14248220. doi: 10.3390/s16091485.Carlos Francisco and Rodriguez Herrera. Dinámica Mecánica. 2021.Clement Gosselin and Jing Wang. “Singularity Loci ofa Special Class of-Spherical Three-degree-of-freedom ParallelMechanisms with Revolute Actuators”. In: The International Journal of Robotics Research Vol. 21 (No. 7 2002), pp. 649–659.Clement M. Gosselin and Eric Lavoie. “On the kinematic design of spherical three-degree-of-freedom parallel manipulators”. In: International Journal of Robotics Research 12 (4 1993), pp. 394–402. issn: 02783649. doi: 10.1177/027836499301200406.Clement M. Gosselin, Eric St. Pierre, and Martin Cagne. “On the Development of the Agile Eye”. In: IEEE Robotics Automation Magazine (1996).Dino Hüllmann et al. “Control of a spherical parallel manipulator”. In: Materials Today: Proceedings 12 (2019), pp. 423–430. url: www.sciencedirect.comwww.materialstoday.com/proceedings2214-7853.Kevin (Kevin M.) Lynch and Frank C. Park. Modern robotics : Mechanics, Planning, and Control. 2017. isbn: 9781107156302.J. P. Merlet. “Jacobian, manipulability, condition number, and accuracy of parallel robots”. In: Journal of Mechanical Design 128 (1 2006), pp. 199–206. issn: 10500472. doi: 10.1115/1.2121740.J.P Merlet. Parallel Robots. Second. Springer, 2006.Aibek Niyetkaliyev and Almas Shintemirov. “An Approach for Obtaining Unique Kinematic Solutions of a Spherical Parallel Manipulator”. In: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2014).Aibek Niyetkaliyev and Almas Shintemirov. “An Approach for Obtaining Unique Kinematic Solutions of a Spherical Parallel Manipulator”. In: 2014 IEEE/ASME International Conference onAdvanced Intelligent Mechatronics (AIM) (2019).Soheil Sadeqi et al. “Design and performance analysis of a 3-RRR spherical parallel manipulator for hip exoskeleton applications”. In: Journal of Rehabilitation and Assistive Technologies Engineering 4 (Jan. 2017), p. 205566831769759. issn: 2055-6683. doi: 10.1177/2055668317697596.Almas Shintemirov, Aibek Niyetkaliyev, and Matteo Rubagotti. “Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions”. In: IEEE/ASME Transactions on Mechatronics 21 (1 Feb. 2016), pp. 98–109. issn: 10834435. doi: 10.1109/TMECH.2015.2474707.Bruno Siciliano and Oussama Khatib. Springer Handbook of Robotics. eng. 2nd ed. 2017. Springer Handbooks. Cham: Springer International Publishing AG, 2016. isbn: 9783319325507.Mark W Spong, Seth Hutchinson, and M Vidyasagar. Robot Modeling and Control First Edition. First. Wiley, 2005Tasbolat Taunyazov, Matteo Rubagotti, and Almas Shintemirov. “Constrained orientation control of a spherical parallel manipulator via online convex optimization”. In: IEEE/ASME Transactions on Mechatronics 23 (1 Feb. 2018), pp. 252–261. issn: 10834435. doi: 10.1109/TMECH.2017.2774245.Iliyas Tursynbek, Aibek Niyetkaliyev, and Almas Shintemirov. “Computation of Unique Kinematic Solutions of a Spherical Parallel Manipulator with Coaxial Input Shafts”. In: IEEE 15th International Conference on Automation Science and Engineering (CASE) (Aug. 2019). url: www.solidworks.com.Iliyas Tursynbek and Almas Shintemirov. “Infinite rotational motion generation and analysis of a spherical parallel manipulator with coaxial input axes”. In: Mechatronics 78 (Oct. 2021). issn: 09574158. doi: 10.1016/j.mechatronics.2021.102625.Iliyas Tursynbek and Almas Shintemirov. “Infinite Torsional Motion Generation of a Spherical Parallel Manipulator with Coaxial Input Axes”. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2020).Koji Ueda et al. “Design of large motion range and heavy duty 2-DOF spherical parallel wrist mechanism”. In: Journal of Robotics and Mechatronics 25 (2 2013), pp. 294–305. issn: 18838049. doi: 10.20965/jrm.2013. p0294.Guanglei Wu and Shaoping Bai. “Design and kinematic analysis of a 3-RRR spherical parallel manipulator reconfigured with four–bar linkages”. In: Robotics and Computer Integrated Manufacturing (2018).Guanglei Wu et al. “Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator”. In: Robotics and Autonomous Systems 62 (10 2014), pp. 1377–1386. issn: 09218890. doi: 10 . 1016 / j . robot .2014.06.006.202014303PublicationORIGINALautorizacion tesis Mateo Fernandez Mier.pdfautorizacion tesis Mateo Fernandez Mier.pdfHIDEapplication/pdf327428https://repositorio.uniandes.edu.co/bitstreams/0c700f6e-efb7-4b82-8353-e5b30ce0f82d/download268476ad7cc9a69530af9a38964a019bMD51Design of a Spherical Parallel Robotic Wrist Mechanism.pdfDesign of a Spherical Parallel Robotic Wrist Mechanism.pdfapplication/pdf6426396https://repositorio.uniandes.edu.co/bitstreams/8473e64e-3018-4557-99e7-f3ea73cfd335/download3b477c38f27e8b9211adaaf2e6bc5602MD52CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8914https://repositorio.uniandes.edu.co/bitstreams/0e7300b1-6a8b-47dd-8823-ae6a8b4f68d1/download24013099e9e6abb1575dc6ce0855efd5MD53LICENSElicense.txtlicense.txttext/plain; charset=utf-82535https://repositorio.uniandes.edu.co/bitstreams/3c5e2933-687c-48ee-8b3e-d020535fae4f/downloadae9e573a68e7f92501b6913cc846c39fMD54TEXTautorizacion tesis Mateo Fernandez Mier.pdf.txtautorizacion tesis Mateo Fernandez Mier.pdf.txtExtracted texttext/plain2027https://repositorio.uniandes.edu.co/bitstreams/bdc5a0f8-74de-441e-95bc-87c4df579ba1/download6cb2fbabcc53cc81cc58630cadf8061fMD55Design of a Spherical Parallel Robotic Wrist Mechanism.pdf.txtDesign of a Spherical Parallel Robotic Wrist Mechanism.pdf.txtExtracted texttext/plain97457https://repositorio.uniandes.edu.co/bitstreams/328708ac-fc7c-4d63-8673-1733805e384b/download0ccf2b6d1ec76ce8d9c0441a02b1d876MD57THUMBNAILautorizacion tesis Mateo Fernandez Mier.pdf.jpgautorizacion tesis Mateo Fernandez Mier.pdf.jpgGenerated Thumbnailimage/jpeg11019https://repositorio.uniandes.edu.co/bitstreams/dc8c23a0-0d5a-44a2-84c3-d520d1fb0e3f/download70f34d5702bd21fb6a89699dbe2cca9aMD56Design of a Spherical Parallel Robotic Wrist Mechanism.pdf.jpgDesign of a Spherical Parallel Robotic Wrist Mechanism.pdf.jpgGenerated Thumbnailimage/jpeg6212https://repositorio.uniandes.edu.co/bitstreams/2e929018-6da4-483c-9c28-2e353461bb1f/downloade32fe2ee08c42307e9758ee484b735b6MD581992/74242oai:repositorio.uniandes.edu.co:1992/742422024-05-29 03:07:31.409http://creativecommons.org/licenses/by-nc/4.0/Attribution-NonCommercial 4.0 Internationalopen.accesshttps://repositorio.uniandes.edu.coRepositorio institucional Sénecaadminrepositorio@uniandes.edu.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 |