A novel grid-based reconfigurable spatial parallel mechanism with large workspace

被引：15
|
作者：
Viegas, Carlos [1 ]
Tavakoli, Mahmoud [1 ]
de Almeida, Anibal T. [1 ]
机构：
[1] Univ Coimbra, Inst Syst & Robot, Coimbra, Portugal
来源：
MECHANISM AND MACHINE THEORY | 2017年 / 115卷
关键词：
Parallel manipulator; Reconfigurable robots; Workspace extension; Assembly modes; DESIGN; MANIPULATOR;
D O I：
10.1016/j.mechmachtheory.2017.05.008
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
One of the main problems affecting parallel robots in industry is the low workspace to installation-space ratio. In this paper, the novel concept of a 3-PAUR (three-prismatic translation and rotation universal-rotation) reconfigurable spatial parallel manipulator, driven by 2D mobile robots, is presented. Using three strategies on the same system, including drive range extension, base translation and dynamic joint reconfiguration, it is possible to enhance significantly the workspace to installation-space ratio, allowing fine manipulation over a large workspace. The architecture, kinematics and workspace analysis of this novel concept are developed and discussed. It is also demonstrated that through parameter fine tuning it is possible to shape the workspace to suit specific application requirements. (C) 2017 Elsevier Ltd. All rights reserved.
引用
收藏
页码：149 / 167
页数：19
相关论文
共 50 条
  • [31] GridFOR: A Domain Specific Language for Parallel Grid-Based Applications
    Wang, Ye
    Li, Zhiyuan
    INTERNATIONAL JOURNAL OF PARALLEL PROGRAMMING, 2016, 44 (03) : 427 - 448
  • [32] Grid-based indexing for large time series databases
    An, JY
    Chen, HX
    Furuse, K
    Ohbo, N
    Keogh, E
    INTELLIGENT DATA ENGINEERING AND AUTOMATED LEARNING, 2003, 2690 : 614 - 621
  • [33] A conceptual model of grid-based spatial decision support system
    Wang Minghu
    Xue Huifeng
    Wu Huixin
    Tao, Ye
    IMECS 2007: INTERNATIONAL MULTICONFERENCE OF ENGINEERS AND COMPUTER SCIENTISTS, VOLS I AND II, 2007, : 1614 - +
  • [34] Mechanism Analysis of a Novel Four-Degree-of-Freedom Parallel Manipulator Based on Larger Workspace
    Fang, Hairong
    Chen, Jianghong
    Wang, Congzhe
    2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3, 2009, : 1019 - 1023
  • [35] Determining spatial resolution in spatial load forecasting using a grid-based model
    Melo, Joel D.
    Carreno, Edgar M.
    Calvino, Aida
    Padilha-Feltrin, Antonio
    ELECTRIC POWER SYSTEMS RESEARCH, 2014, 111 : 177 - 184
  • [36] Spatial Information Grid-based Digital Map Framing Method
    Li, Guiling
    Yang, Yongchong
    PROCEEDINGS OF THE 3RD INTERNATIONAL CONFERENCE ON MECHATRONICS AND INDUSTRIAL INFORMATICS, 2015, 31 : 251 - 255
  • [37] Stochastic Geometry Analysis of Spatial Grid-based Spectrum Database
    Yamashita, Shota
    Yamamoto, Koji
    Nishio, Takayuki
    Morikura, Masahiro
    2017 IEEE 85TH VEHICULAR TECHNOLOGY CONFERENCE (VTC SPRING), 2017,
  • [38] Operation Mode and Workspace of a 3-rRPS Metamorphic Parallel Mechanism with a Reconfigurable Revolute Joint
    Nurahmi, Latifah
    Gan, Dongming
    2018 INTERNATIONAL CONFERENCE ON RECONFIGURABLE MECHANISMS AND ROBOTS (REMAR), 2018,
  • [39] Kinematic and workspace analyses of a novel 4-dof parallel mechanism
    Akhbari, Sina
    Jond, Ahad Zare
    Mahboubkhah, Mehran
    2018 6TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2018), 2018, : 280 - 285
  • [40] Construction and forward kinematics of a novel reconfigurable parallel mechanism
    Zhang, Yuankai
    Li, Duanling
    Dong, Kaijie
    Fan, Longjie
    Wu, Bo
    Li, Jiahao
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2024, 238 (15) : 7568 - 7584
12345