Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot
Design, configuration and operation modes of spherical 3-_RRR coaxial parallel robot were performed. A mathematical analysis of the robot was made, which consists of inverse and forward kinematic using geometric and numerical methods respectively, using MATLAB environment. Based on the above, eight...
- Autores:
-
Marrugo, D.
Vitola, A.
Villa, J.L.
Rodelo, M.
- Tipo de recurso:
- Fecha de publicación:
- 2021
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/12279
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/12279
- Palabra clave:
- Parallel Manipulator;
Stewart Platform;
Biomechanics
LEMB
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
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Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot |
| title |
Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot |
| spellingShingle |
Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot Parallel Manipulator; Stewart Platform; Biomechanics LEMB |
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Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot |
| title_full |
Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot |
| title_fullStr |
Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot |
| title_full_unstemmed |
Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot |
| title_sort |
Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot |
| dc.creator.fl_str_mv |
Marrugo, D. Vitola, A. Villa, J.L. Rodelo, M. |
| dc.contributor.author.none.fl_str_mv |
Marrugo, D. Vitola, A. Villa, J.L. Rodelo, M. |
| dc.subject.keywords.spa.fl_str_mv |
Parallel Manipulator; Stewart Platform; Biomechanics |
| topic |
Parallel Manipulator; Stewart Platform; Biomechanics LEMB |
| dc.subject.armarc.none.fl_str_mv |
LEMB |
| description |
Design, configuration and operation modes of spherical 3-_RRR coaxial parallel robot were performed. A mathematical analysis of the robot was made, which consists of inverse and forward kinematic using geometric and numerical methods respectively, using MATLAB environment. Based on the above, eight possible operation and configuration modes were derived. The proposed approach demonstrates that a unique solution for the specific configuration and operation mode of a coaxial robot can be calculated. Moreover, mechanical design of the robot prototype was performed in the SolidWorks design program presented in detail for experimental verification of the performed numerical and simulation analyses. Results obtained from this work can be implemented in the development of real time orientation control systems for coaxial robots. As future works, an analysis of singularities, performance and dynamic will be carried out. © 2021 IEEE. |
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2021 |
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2021 |
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2023-07-21T15:44:06Z |
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2023-07-21T15:44:06Z |
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2023 |
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Marrugo, D., Vitola, A., Villa, J. L., & Rodelo, M. (2021, October). Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot. In 2021 IEEE 5th Colombian Conference on Automatic Control (CCAC) (pp. 163-168). IEEE. |
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https://hdl.handle.net/20.500.12585/12279 |
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10.1109/CCAC51819.2021.9633325 |
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Universidad Tecnológica de Bolívar |
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Repositorio Universidad Tecnológica de Bolívar |
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Marrugo, D., Vitola, A., Villa, J. L., & Rodelo, M. (2021, October). Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot. In 2021 IEEE 5th Colombian Conference on Automatic Control (CCAC) (pp. 163-168). IEEE. 10.1109/CCAC51819.2021.9633325 Universidad Tecnológica de Bolívar Repositorio Universidad Tecnológica de Bolívar |
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https://hdl.handle.net/20.500.12585/12279 |
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eng |
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eng |
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5 páginas |
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Cartagena de Indias |
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Proceedings of the 2021 IEEE 5th Colombian Conference on Automatic Control, CCAC 2021 |
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Marrugo, D.3310dd07-7c04-423b-be09-234ad9f0dbc1Vitola, A.51cd21b6-d8a0-4f88-b0a5-0daa3174e9c0Villa, J.L.7f838bea-e596-45e5-a1f2-6351e6af6299Rodelo, M.5a35a50f-392b-43ea-b5cd-69ca72b760ff2023-07-21T15:44:06Z2023-07-21T15:44:06Z20212023Marrugo, D., Vitola, A., Villa, J. L., & Rodelo, M. (2021, October). Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot. In 2021 IEEE 5th Colombian Conference on Automatic Control (CCAC) (pp. 163-168). IEEE.https://hdl.handle.net/20.500.12585/1227910.1109/CCAC51819.2021.9633325Universidad Tecnológica de BolívarRepositorio Universidad Tecnológica de BolívarDesign, configuration and operation modes of spherical 3-_RRR coaxial parallel robot were performed. A mathematical analysis of the robot was made, which consists of inverse and forward kinematic using geometric and numerical methods respectively, using MATLAB environment. Based on the above, eight possible operation and configuration modes were derived. The proposed approach demonstrates that a unique solution for the specific configuration and operation mode of a coaxial robot can be calculated. Moreover, mechanical design of the robot prototype was performed in the SolidWorks design program presented in detail for experimental verification of the performed numerical and simulation analyses. Results obtained from this work can be implemented in the development of real time orientation control systems for coaxial robots. As future works, an analysis of singularities, performance and dynamic will be carried out. © 2021 IEEE.5 páginasapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://purl.org/coar/access_right/c_abf2Proceedings of the 2021 IEEE 5th Colombian Conference on Automatic Control, CCAC 2021Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robotinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/drafthttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/version/c_b1a7d7d4d402bccehttp://purl.org/coar/resource_type/c_2df8fbb1Parallel Manipulator;Stewart Platform;BiomechanicsLEMBCartagena de IndiasBarz, T., Sommer, A., Wilms, T., Neubauer, P., Cruz Bournazou, M.N. Adaptive optimal operation of a parallel robotic liquid handling station (2018) , 51 (2), pp. 765-770. Cited 18 times. http://www.journals.elsevier.com/ifac-papersonline/ doi: 10.1016/j.ifacol.2018.04.006Pradipta, J., Klunder, M., Weickgenannt, M., Sawodny, O. Development of a pneumatically driven flight simulator Stewart platform using motion and force control (2013) 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, art. no. 6584085, pp. 158-163. Cited 28 times. ISBN: 978-146735319-9 doi: 10.1109/AIM.2013.6584085Lenarčič, J., Stanišić, M.M., Parenti-Castelli, V. Kinematic design of a humanoid robotic shoulder complex (2000) Proceedings-IEEE International Conference on Robotics and Automation, 1, pp. 27-32. Cited 28 times. doi: 10.1109/ROBOT.2000.844035Ortega, J.J., Sigut, M. A low-cost mobile prototype for high-realism flight simulation (2016) RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 13 (3), pp. 293-303. Cited 9 times. http://www.elsevier.com/wps/find/journaldescription.cws_home/726664/description#description doi: 10.1016/j.riai.2016.05.002Sadeqi, S., Bourgeois, S., Park, E., Arzanpour, S. Design and performance analysis of a 3-r rr spherical parallel manipulator for hip exoskeleton applications (2017) Journal of Rehabilitation and Assistive Technologies Engineering, 4 (5). Cited 16 times.Marrugo, D., Vitola, A., Villa, J.L., Rodelo, M. Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory (2020) 2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings, art. no. 9290317. Cited 2 times. http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=9290170 ISBN: 978-172819496-7 doi: 10.1109/CIIMA50553.2020.9290317Enferadi, J., Shahi, A. On the position analysis of a new spherical parallel robot with orientation applications (2016) Robotics and Computer-Integrated Manufacturing, 37, pp. 151-161. Cited 26 times. doi: 10.1016/j.rcim.2015.09.004Sánchez-Alonso, R.E., González-Barbosa, J.-J., Castillo-Castañeda, E., García-Murillo, M.A. Kinematic Analysis of a Novel Reconfigurable Parallel Robot (2016) RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 13 (2), pp. 247-257. Cited 8 times. http://www.elsevier.com/wps/find/journaldescription.cws_home/726664/description#description doi: 10.1016/j.riai.2015.07.007Meals, C., Meals, R. Hand fractures: A review of current treatment strategies (Open Access) (2013) Journal of Hand Surgery, 38 (5), pp. 1021-1031. Cited 72 times. http://www.elsevier.com/inca/publications/store/6/2/3/1/4/5/index.htt doi: 10.1016/j.jhsa.2013.02.017Mahdizadeh, O., Meymand, A.Z., Mollahossein, M., Moosavian, S.A.A. Kinematics and Dynamics Modeling of Spherical Parallel Manipulator (2019) Proceedings of the 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018, art. no. 8657504, pp. 406-412. Cited 5 times. http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=8648512 ISBN: 978-172810127-9 doi: 10.1109/ICRoM.2018.8657504Zhang, T., Li, B., Wang, D., Ma, L., Zhao, X. Kinematic analysis and its applications of a novel spherical parallel manipulator (2016) 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, art. no. 7866507, pp. 1309-1312. Cited 5 times. ISBN: 978-150904364-4 doi: 10.1109/ROBIO.2016.7866507Bai, S., Hansen, M.R. (2007) Evaluation of Workspace of A Spherical Robotic Wrist, pp. 1-6. Cited 2 times.Mirmohammad, S.H., Yousefi-Koma, A., Mohtasebi, S.S. Direct kinematics of a three revolute-prismatic-spherical parallel robot using a fast homotopy continuation method (2016) 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, art. no. 7886773, pp. 410-415. Cited 6 times. ISBN: 978-150903222-8 doi: 10.1109/ICRoM.2016.7886773Li, Y.B., Jin, Z.L. (2008) Static Analysis and Design of A 3-dof Spherical Parallel Manipulator, pp. 1-4. Cited 2 times.Bai, S., Hansen, M.R. Evaluation of workspace of a spherical robotic wrist (2007) IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, art. no. 4412458. Cited 10 times. ISBN: 1424412641; 978-142441264-8 doi: 10.1109/AIM.2007.4412458Bai, S., Hansen, M.R., Angeles, J. A robust forward-displacement analysis of spherical parallel robots (Open Access) (2009) Mechanism and Machine Theory, 44 (12), pp. 2204-2216. Cited 83 times. doi: 10.1016/j.mechmachtheory.2009.07.005Carbonari, L., Callegari, M., Palmieri, G., Palpacelli, M.-C. Analysis of kinematics and reconfigurability of a spherical parallel manipulator (2014) IEEE Transactions on Robotics, 30 (6), art. no. 6912002, pp. 1541-1547. Cited 20 times. http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8860 doi: 10.1109/TRO.2014.2357092Zhou, J., Peng, X. Position and singularity analysis of 4-SPS/PS parallel manipulator (2012) Proceedings of the World Congress on Intelligent Control and Automation (WCICA), art. no. 6359083, pp. 3663-3668. Cited 3 times. ISBN: 978-146731398-8 doi: 10.1109/WCICA.2012.6359083Yu, Y., Xu, Z.-B., Han, C.-Y., Han, H., Wang, X.-M., Wu, Q.-W. Design and testing of parallel alignment mechanism for space optical payload (2017) 2017 2nd Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2017, art. no. 7986103, pp. 254-258. Cited 4 times. ISBN: 978-150906792-3 doi: 10.1109/ACIRS.2017.7986103Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G. (2010) Robotics: Modelling, Planning and Control. Springer Publishing Company. Cited 1374 times. IncorporatedTursynbek, I., Niyetkaliye, A., Shintemirov, A. Computation of unique kinematic solutions of a spherical parallel manipulator with coaxial input shafts (2019) IEEE International Conference on Automation Science and Engineering, 2019-August, art. no. 8843090, pp. 1524-1531. 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