Advances in Robot Kinematics: Analysis and Design

457 Pages·2008·10.921 MB·English

by  Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)

Advances in Robot Kinematics: Analysis and Design
Jadran Lenarcˇicˇ • Philippe Wenger
Editors
Advances in Robot Kinematics:
Analysis and Design
JadranLenarcˇicˇ PhilippeWenger
J.StefanInstitute IRCCyNInstitute
Ljubljana,Slovenia Nantes,France
ISBN-13:978-1-4020-8599-4 e-ISBN-13:978-1-4020-8600-7
LibraryofCongressControlNumber:2008927513
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Table of Contents
Preface xi
SINGULARITYANALYSISOFPARALLELMANIPULATORS
ANewAssessmentofSingularitiesofParallelKinematicChains 3
MicheleConconiandMarcoCarricato
SingularityAnalysisthroughStaticAnalysis 13
J.HubertandJ.-P.Merlet
ConstraintSingularitiesandtheStructuralParametersofParallelRobots 21
GrigoreGogu
ForwardKinematicsandSingularityAnalysisofa3-RPRPlanarParallel
Manipulator 29
XianwenKong
GeometricAlgebraApproachtoSingularityofParallelManipulatorswith
LimitedMobility 39
TanioK.Tanev
SinguLab–AGraphicalUserInterfacefortheSingularityAnalysisof
ParallelRobotsBasedonGrassmann–CayleyAlgebra 49
PatriciaBen-Horin,MosheShoham,StéphaneCaro,DamienChablat
andPhilippeWenger
SingularityAnalysisofLimited-DOFParallelManipulatorsUsing
Grassmann–CayleyAlgebra 59
DanielKanaan,PhilippeWengerandDamienChablat
DESIGNOFROBOTSANDMECHANISMS
OntheDesignofFullyConstrainedParallelCable-DrivenRobots 71
M.Gouttefarde,S.Krut,O.Company,F.PierotandN.Ramdani
v
vi TableofContents
SynthesisofPartOrientingDevicesforSpatialAssemblyTasks 79
P.Larochelle
MinimumEnergyManipulatorDesign 89
A.RojasSalgadoandY.LedezmanRubio
SynthesisandAnalysisofaConstrainedSphericalParallelManipulator 101
G.S.SohandJ.M.McCarthy
ANonholonomic3-DOFParallelRobot 111
PatriciaBen-HorinandFedericoThomas
4DOFParallelArchitectureforLaparoscopicSurgery 119
MohammadAamirKhan,MatteoZoppiandRezioMolfino
Flapping-WingMechanismforaBird-SizedUAVs:Design,Modeling
andControl 127
Ch.Grand,P.Martinelli,J.-B.MouretandS.Doncieux
ExtendedJacobianInverseKinematicsandApproximationofDistributions 137
MariuszJaniakandKrzysztofTchon´
AScrewSyzygywithApplicationstoRobotSingularityComputation 147
J.M.SeligandPeterDonelan
SingularityRobustJacobianInverseKinematicsforMobileManipulators 155
KrzysztofTchon´ andŁukaszMałek
RobotsBasedonAssurGroupA(3.5) 165
KarlWohlart
KinematicsofFree-FloatingSystemsthroughOptimalControlTheory 177
G.LeVey
GenericityConditionsforSerialManipulators 185
PeterDonelan
AlternativeFormsforDisplacementScrewsandTheirPitches 193
I.A.Parkin
MOTIONPLANNINGANDMOBILITY
Time-InvariantStrategiesinCoordinationofHumanReaching 205
SatyajitAmbikeandJamesP.Schmiedeler
TableofContents vii
MobilityandHigherOrderLocalAnalysisoftheConfigurationSpaceof
Single-LoopMechanisms 215
A.MüllerandJ.M.Rico
OptimizationofaTestTrajectoryforSCARASystems 225
J.-F.Gauthier,J.AngelesandS.Nokleby
SingularityFreePathPlanningforParallelRobots 235
SamirLahouar,SaïdZeghloulandLotfiRomdhane
AComparisonbetweenTwoMotionPlanningStrategiesforKinematically
RedundantParallelManipulators 243
J.A.Carretero,I.EbrahimiandR.Boudreau
TrajectoryPlanningofParallelManipulatorsforGlobalPerformance
Optimization 253
OfeliaG.Alba-Gómez,J.AlfonsoPamanesandPhilippeWenger
HumanMotionReconstructionbyDirectControlofMarkerTrajectories 263
EmelDemircan,LuisSentis,VincentDeSapioandOussamaKhatib
PERFORMANCEANDPROPERTIESOFMECHANISMS
NewSelf-MotionsofParallelManipulators 275
AdolfKarger
ExactEnvelopeComputationforMovingSurfaceswithQuadraticSupport
Functions 283
MargotRabl,BertJüttlerandLaureanoGonzalez-Vega
ACompound-StructureFrameforImprovingthePerformanceofa
DielectricElastomerActuator 291
GiovanniBerselli,RoccoVertechy,GabrieleVassuraand
VincenzoParentiCastelli
TransitionsbetweenMultipleSolutionsoftheDirectKinematicProblem 301
E.Macho,O.Altuzarra,C.PintoandA.Hernandez
KinetostaticPerformanceofaPlanarParallelMechanismwithVariable
Actuation 311
N.Rakotomanga,D.ChablatandS.Caro
ResultsonPlanarParallelManipulatorswithCylindricalSingularity
Surface 321
G.Nawratil
viii TableofContents
StiffnessMatrixofCompliantParallelMechanisms 331
C.QuennouelleandC.M.Gosselin
MEASUREANDCALIBRATION
APairofMeasuresofRotationalErrorforAxisymmetricRobot
End-Effectors 345
SébastienBriotandIlianA.Bonev
Angular-VelocityEstimationfromtheCentripetalComponentofthe
Rigid-BodyAccelerationField 353
PhilippeCardouandJorgeAngeles
ANovelPointofViewtoDefinetheDistancebetweenTwoRigid-Body
Poses 361
RaffaeleDiGregorio
ParallelRobotCalibrationbyWorkingModeChange 371
P.Last,C.Budde,D.Schütz,J.HesselbachandA.Raatz
AugmentedModelofthe3-PRSManipulatorforKinematicCalibration 381
StevenM.O’BrienandJuanA.Carretero
TheCalibrationofaParallelManipulatorwithBinaryActuation 391
Jean-SébastienPlanteandStevenDubowsky
StabilityMeasureofPosturalDynamicEquilibriumBasedonResidual
Radius 399
SébastienBarthélemyandPhilippeBidaud
KINEMATICANALYSISANDWORKSPACE
AGeometricalCharacterizationofWorkspaceSingularitiesin3R
Manipulators 411
M.Husty,E.OttavianoandM.Ceccarelli
KinematicAnalysisofaPlanarTensegrityMechanismwithPre-Stressed
Springs 419
CarlD.CraneIII,JahanBayat,VisheshVikasandRodneyRoberts
InverseKinematicsofRobotManipulatorswithMultipleMovingControl
Points 429
AgostinoDeSantisandBrunoSiciliano
TableofContents ix
OntheDelassusParallelogram 439
Chung-ChingLeeandJacquesM.Hervé
ForwardKinematicsandWorkspaceDeterminationofaWireRobotfor
IndustrialApplications 451
AndreasPott
KinematicModelingandWorkspaceGenerationforaNewParalellRobot
UsedinMinimallyInvasiveSurgery 459
DoinaPisla,NicolaePliteaandCalinVaida
AuthorIndex 469
SubjectIndex 471
Preface
Springer published the first book of the series of Advances in Robot Kinematics
in an edited format in 1991. Since 1994, Kluwer and Springer published a book
everytwoyearswithoutinterruptions.Thesebooksdealwiththetheoryandpractice
of robotkinematicsand treat the kinematic aspectsof robotmotionand design of
robots.EachbookofAdvancesinRobotKinematicsreportsthemostrecentresearch
projectsandpresentsimportantnewdiscoveries.The seriesofAdvancesin Robot
Kinematicsisconsideredamostimportantsourceofinformationinitsarea.
The present book emphasizes kinematic analysis and design. The issues ad-
dressedarefundamentallykinematicinnature,includingsynthesis,calibration,re-
dundancy,forcecontrol,dexterity,inverseandforwardkinematics,kinematicsingu-
larities, aswell as over-constrainedsystems. Methodsused include line geometry,
quaternion algebra, screw algebra, and linear algebra. These methods are applied
tobothparallelandserialmulti-degree-of-freedomsystems.Theresultsshouldin-
terest researchers,teachersand students, in fields of engineeringand mathematics
relatedtorobottheory,design,controlandapplication.
Thecontributionshadbeenrigorouslyreviewedbyindependentreviewers.The
authorsdiscussedtheirresultsattheeleventhinternationalsymposiumonAdvances
in Robot Kinematics which was held in June 2008 in Batz-sur-Mer, France. The
symposiumwasorganizedbytheInstitutdeRechercheenCommunicationsetCy-
bernetiquedeNantes,FranceincollaborationwiththeJ.StefanInstitute,Ljubljana,
Slovenia,underthepatronageoftheInternationalFederationforthePromotionof
MechanismandMachineScience.
We are grateful to the authors for their contributions and to the reviewers for
their timely reviews and recommendations.We are also indebted to the personnel
at Springer and Jolanda Karada (Karada Publishing Services) for their excellent
technicalandeditorialsupport.
JadranLenarcˇicˇandPhilippeWenger,editors
xi
A New Assessment of Singularities of Parallel
Kinematic Chains
MicheleConconiandMarcoCarricato
DIEM–DepartmentofMechanicalEngineering,UniversityofBologna,Italy;
e-mail:{michele.conconi,marco.carricato}@mail.ing.unibo.it
Abstract. An exhaustive hierarchical-level-based classification of singularities of parallel kin-
ematic chains is presented. Singular events are identified, interpreted and related to the direct
physicalphenomena originatingthem.Anin-depthstudyoftheinteractionofdifferent typesof
singularityisperformed.
Keywords: singularities,instantaneouskinematics,parallelmechanisms.
1 Introduction
Singularities are critical configurations in which the kinetostatic behaviour of a
mechanismsuddenlychangeswithrespecttoafull-cyclecondition.Theyhavebeen
studied,underdifferentperspectives,byseveralauthors.Justafewcontributionsare
recalledhere,asacomprehensivediscussionisbeyondthescopeofthispaper(for
moredetailedbibliographicrecords,thereadermayrefer,forinstance,to[8]).
Singular configurationsare commonlyidentified by analyzing the input-output
kinematic equations of a mechanism [3]. However, it has been shown that such
an approachmay fail to detect some critical configurationsof closed-loopchains.
Zlatanovetal.[11],inparticular,recognizedtheroleofpassivejoints,emphasizing
thenecessitytodevelopthestudyofsingularitiesintheentireconfigurationspace
ofthemechanism.Theyconsiderthemechanismasaninput-outputdeviceandbase
their study on a definition of singularities that requires the selection of a set of
actuated variables. This choice is necessary for the sake of completeness, but it
inevitablyrenderstheclassificationcomplexand,insomecases,ofnon-immediate
orambiguousapplication.
Hunt[4]pioneeredtheideaofindependentlyconsideringthephenomenasolely
dependingonthemechanismgeometry,introducingtheconceptsofuncertaintyand
stationaryconfigurationsforsingle-loopchains.ParkandKim[9]andLiuetal.[7]
developedamorecompletelevel-basedanalysis.Theyshowedthatcriticalconfig-
urationsare coordinate-invariantandproposed,forclosed-loopchains,a hierarch-
JadranLenarcˇicˇandPhilippeWenger(eds.),AdvancesinRobotKinematics:Analysis
andDesign,3–12.
©SpringerScience+BusinessMediaB.V.2008