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    Workspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator

    Source: Journal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 006::page 064501-1
    Author:
    Yang, Hui
    ,
    Fang, Hairong
    ,
    Li, Xiangyun
    ,
    Fang, Yuefa
    DOI: 10.1115/1.4047157
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The volume of workspace is a significant kinematic index of parallel manipulator in some applications of engineering. However, the workspace degradation of the manipulator in extreme position is a demanding issue, which results in a fact that such manipulators cannot satisfy the machining requirement of the maximum limit position for the large-scale complex structural components. In this paper, a novel five degrees-of-freedom (DOF) 5PRR+5PUS-PRPU parallel manipulator (PM) is presented. First, the mobility analysis for the proposed manipulator is carried out, and the inverse kinematics as well as the Jacobian matrix is developed. Then, the workspace of the 5PRR+5PUS-PRPU PM and the 5PUS-PRPU PM is analyzed to study the workspace augmentation of the proposed PM. The workspace comparisons of these two PMs prove that the proposed PM not only can realize the large movement of the moving platform along the z-axis, but also possess larger workspace than the 5PUS-PRPU PM when the moving platform has a large movement along the z-axis. Furthermore, the singularity analysis is also conducted to show the singularity-free workspace of the proposed PM. By the introduction of the reconfigurable 5PRR PM, the proposed manipulator effectively augments the reachable workspace of the moving platform along the z-axis and to some extent also solves the issue of workspace degradation of the PM along z-axis.
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      Workspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/4275068
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    • Journal of Mechanisms and Robotics

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    contributor authorYang, Hui
    contributor authorFang, Hairong
    contributor authorLi, Xiangyun
    contributor authorFang, Yuefa
    date accessioned2022-02-04T22:11:39Z
    date available2022-02-04T22:11:39Z
    date copyright6/9/2020 12:00:00 AM
    date issued2020
    identifier issn1942-4302
    identifier otherjmr_12_6_064501.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4275068
    description abstractThe volume of workspace is a significant kinematic index of parallel manipulator in some applications of engineering. However, the workspace degradation of the manipulator in extreme position is a demanding issue, which results in a fact that such manipulators cannot satisfy the machining requirement of the maximum limit position for the large-scale complex structural components. In this paper, a novel five degrees-of-freedom (DOF) 5PRR+5PUS-PRPU parallel manipulator (PM) is presented. First, the mobility analysis for the proposed manipulator is carried out, and the inverse kinematics as well as the Jacobian matrix is developed. Then, the workspace of the 5PRR+5PUS-PRPU PM and the 5PUS-PRPU PM is analyzed to study the workspace augmentation of the proposed PM. The workspace comparisons of these two PMs prove that the proposed PM not only can realize the large movement of the moving platform along the z-axis, but also possess larger workspace than the 5PUS-PRPU PM when the moving platform has a large movement along the z-axis. Furthermore, the singularity analysis is also conducted to show the singularity-free workspace of the proposed PM. By the introduction of the reconfigurable 5PRR PM, the proposed manipulator effectively augments the reachable workspace of the moving platform along the z-axis and to some extent also solves the issue of workspace degradation of the PM along z-axis.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleWorkspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator
    typeJournal Paper
    journal volume12
    journal issue6
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4047157
    journal fristpage064501-1
    journal lastpage064501-9
    page9
    treeJournal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 006
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian