http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Identification of geometric parameters of a parallel robot by using a camera calibration technique
Mauricio Arredondo-Soto,Mario A. García-Murillo,J. Jesús Cervantes-Sánchez,Felipe J. Torres,Hector A. Moreno-Avalos 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.2
This work reports a novel method to estimate the geometrical parameters of a 2-(3-RRPS) parallel robot intended for manufacturing tasks. The method uses camera calibration techniques, and it is based on the concept of vertex space. The advantage of this technique is that the system does not require complex electronic instrumentation, and only uses a CCD camera as a main sensor and planar patterns, which makes it portable, accurate and low cost. To ensure the quality of the measurements, a methodology for characterization of the measurement system is included. The applicability and the advantages of using the proposed method are shown by means of the estimation of the geometrical dimensions of a spatial parallel manipulator with a relatively complex kinematic architecture. Experiments are conducted and show a significant improvement in manipulator accuracy when the parameters estimated with this technique are used.
A simple approach to solving the kinematics of the 4-UPS/PS (3R1T) parallel manipulator
Jaime Gallardo-Alvarado,Mario A. García-Murillo,Md. Nazrul Islam,Mohammad H. Abedinnasab 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.5
This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained based on closure equations formulated upon linear combinations of the coordinates of three non-collinear points embedded in the moving platform. Then, the input-output equations of velocity and acceleration of the robot manipulator are systematically established by resorting to the theory of screws. To this end, the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) is systematically applied to the velocity and reduced acceleration state in screw form of the moving platform cancelling the passive joint rates of the parallel manipulator. Numerical examples, which are confirmed by means of commercially available software, are provided to show the application of the method.
Jaime Gallardo-Alvarado,Mario A. García-Murillo,Md. Nazrul Islam,Mohammad H. Abedinnasab 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.10
This work deals with the inverse–forward kinematic analysis of a symmetric parallel manipulator equipped with a rotary actuator generator of three independent translations and one rotation motion. The closure equations of the displacement analysis are easily formulated based on the unknown coordinates of two points embedded in the moving platform. The input–output equations of velocity and acceleration of the robot are systematically obtained through the reciprocal-screw theory. The pseudo-kinematic pairs that connect the limbs to the fixed platform and a passive kinematic chain connected to the robot manipulator eliminate the handling of rank-deficient Jacobian matrices, which is an undisputable advantage from the computational point of view. Furthermore, this strategy allows the use of the Lie algebra se(3) without the inherent restrictions associated with the limited mobility of the robot.