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RISMechanical Design Process for the Zippy Wrist
Zippy Wrist is a 3-RRP spherical parallel manipulator and can perform many industrial applications such as; orienting a tool or a workpiece in machine tools, solar panels, space antennas and telescopic mechanisms, flight ...
A Method for Solving Dynamic Equations of a 3-PRR Parallel Robot
In this paper, kinematic relationships for a 3-PRR planar parallel robot are first presented. The robot dynamics equations are formulated using Lagrange equations of first kind. The derived equations are a mixed set of differential and algebraic...
An Investigation on Stiffness Analysis of a 3-PSP Spatial Parallel Mechanism with Flexible Moving Platform Using Invariant Form
In this paper, the stiffness of a 3-PSP spatial parallelmanipulator is investigated. Unlike traditional
stiffness analysis, themoving platformis assumed to be flexible. Two analytical methods are used
in ...
Implementing the homotopy continuation method in a hybrid approach to solve the kinematics problem of spatial parallel robots
In this paper, first the application of Homotopy Continuation Method (HCM) in numerically solving kinematics problem of spatial parallel manipulators is investigated. Using the HCM the forward kinematics problem (F-Kin) ...
Isotropy design and optimization of a planar parallel manipulator with combination of Fuzzy Logic and Genetic Algorithm
In an isotropic configuration, the sensitivity of a manipulator in both velocity and torque errors is at a minimum and the manipulator can be controlled equally well in all directions. If the Jacobian matrix is isotropic ...
FL-GA method for optimization of 3PRR planar parallel manipulator for a prescribed workspace
Manipulator design can be expressed as a function of workspace requirements. This work presents a hybrid fuzzy logic - genetic algorithm (FL-GA) method for optimization and dimensional synthesis of a 3PRR (prismatic- ...
Position and stiffness analysis of a new asymmetric 2PRR–PPR parallel CNC machine
In this paper, structural stiffness analysis of a new 3-axis asymmetric planar parallel manipulator, a 2 P RR–P P R structural kinematic chain, is investigated. The manipulator is proposed as a tool holder for a 5-axis ...
A Strategy Based on Grey Relational Grade for Fuzzy Coalition Formulation
Position tracking of a 3-PSP parallel robot using dynamic growing interval type-2 fuzzy neural control
Parallel robots have complicated structures as well as complex dynamic and kinematic equations, render-ing model-based control approaches as ineffective due to their high computational cost and low accuracy.Here, we propose a model-free dynamic...
Robust adaptive mixed H2/H interval type-2 fuzzy control of nonlinear uncertain systems with minimal control effort
that could not be precisiated, leading to improved error performance. Several simulation studies, with or without disturbance and noisy measurements, as well as actual experimental implementation on a 3-PSP (prismatic-spherical-prismatic) parallel robot...