This paper presents a special type of truss-shaped deployable grasping manipulator (DGM) that is suitable for grasping the large-scale objects, but its dynamic modeling is a challenging task because of its multiple closed-loop structures. To address this issue, an iterative dynamic modeling approach is proposed. First, the mechanism structure of the DGM is introduced. Second, the kinematics of the basic deployable parallel mechanism unit with scissor-shaped elements is established, and then, its deployment dynamics are modeled based on the Lagrange method. Third, an iterative dynamic modeling approach for the DGM is proposed to realize the real-time computation based on the recursive Newton-Euler method. Then, a controller with the desired feedforward dynamic compensation for the DGM is proposed to improve the control performance in comparison with the one without feedforward. Finally, experiments are completed to verify the proposed controller on a DGM, and experimental results show that the proposed controller is effective.

/pdf/dynamic-modeling-and-control-for-a-deployable-grasping-2iauqjaqfp.pdf

Dynamic Modeling and Control for a Deployable Grasping Manipulator

In this paper, the design for variable geometry truss manipulators, with 3-DOF octahedron-shaped modules and hydraulic actuation is introduced. The main features of the concept are the optimized multiple collocated spherical joints and a structure-integrated supply of the drive fluid for the hydraulic actuators. Based upon the known Spherical Joint Mechanism, design rules are deduced and modified joint elements are presented to provide a larger workspace for a single module. The potential of the resulting module design is demonstrated by the calculation of the workspace, as well as the payload-to-mass ratio. Based upon the presented results, a family of highly maneuverable light-weight hyper-redundant manipulators can be derived.

/pdf/on-the-joint-design-and-hydraulic-actuation-of-octahedron-3g9qdt8uqm.pdf

On the joint design and hydraulic actuation of octahedron VGT robot manipulators

This paper presents a 6-degree freedom parallel manipulator, which is driven by hydraulic. The kinematics analysis of the manipulator has given, and a hybrid fuzzy controller is designed, which is combined with the fuzzy self-tuning PD and the fuzzy self-tuning PI by using a simple design scheme. This controller is implemented for motion control of the manipulator. The essential idea of the control scheme is to take the advantage of the fuzzy self-tuning PD and PI controller. The control results are presented and discussed.

Hybrid fuzzy self-tuning PID controller for a parallel manipulator

Two 3-DOF parallel mechanisms, a translational mechanism and a spherical mechanism, are analyzed. Each of two mechanisms commonly possesses three UPS serial sub-chains, and an additional passive 3-DOF PPP-type serial sub-chain and a passive 3-DOF RRR-type serial sub-chain are incorporated for the translational device and the rotational device, respectively. Such additional passive serial sub-chains act as constraints to restrict the output motion of the mechanism either in a 3-DOF translational space or in a 3-DOF spherical space. The position solutions of the proposed mechanisms and their first-order kinematic models are derived. Then their workspaces and kinematic characteristics are examined via the kinematic isotropic index

Analysis of two 3-DOF parallel mechanisms with constrained Stewart Platform structure

Analyse dynamique d'un manipulateur hybride comportant a la fois des elements en serie et des modules a structure parallele

Dynamic analysis of hybrid serial manipulator systems containing parallel modules.

In this paper, a ten degrees of freedom (DOF) redundant robot manipulator based on three DOF parallel platforms is introduced The main contents of the paper include configuration, kinematics, mechanical design and control system The new robot is a hybrid serial system which is composed of a slide pair and three sections of three DOF parallel platforms The system is driven by hydraulic cylinders and controlled by electric-hydraulic servo valves and STD Bus It can sweep large workspace and be used for the operations inside of a large container

Development of a redundant robot manipulator based on three DOF parallel platforms

Handle everyday research tasks with reliable, citation-backed results

Your personal Research Agent to handle research tasks with citation-backed results

Popular Tasks used by Researchers

How can I help with your research?

Meet SciSpace

Get more enhanced response by uploading the PDFs you want me to reference.

No relevant PDFs in your library

SciSpace is the AI research assistant for academics. Run systematic literature reviews on 280M+ papers, and write papers with cited sources. Trusted by 1M+ students, PhDs & researchers.

SciSpace | AI for Research

Analyze PDFs

Code & Manuscripts

Funding & Grants

Literature & Patents

Medical & Clinical Data

Systematic Review

Visualize & Present

Web & Data

Build a Google Scholar-like website for your research.

Build a website

Create charts and images for your research

Create a Chart

Write a paper for submission to a journal

Draft a manuscript

Patent Search

Design eye-catching scientific posters in minutes.

Scientific Poster Generation

Systematic Literature Review

One task is running at the moment. Your messages will be shown right after.

Drag and drop or click here to browse

Loved by <highlight>1 million+</highlight> researchers

Extract a list of specific topics and their sources from unstructured text

Topics

Compare and analyze relevant papers that matches with your search

Papers

Get insights from PDFs and bookmarked papers from your library

My library

Recent searches

Try searching for:

Catch AI-generated content in scholarly and non-scholarly content

{ai} Detector

Ai Writer

Get PDF Summaries, highlighted text explanations 

Chat with PDF

Effortlessly create in-text citations and bibliographies in APA and 2,500 other formats

Citation generator

Get explanations, summaries, and answers on academic papers

Ease up your research workflow with {scispace}'s cohort of exciting AI tools

Elevate your academic writing skills and convey your ideas the way you want

Paraphraser

Explore our range of reading and writing tools

Your file is being prepared and should be ready in a few minutes. If it's a large file, it might take a bit longer. You can close this window, and we'll email you the file when it's done.

You have reached a maximum limit of <strong>{limit}</strong> columns in the table. Remove at least <strong>1</strong> column to add or create another one.

Gui Tong

Author Tools

Chat about Author

Papers

Development of a redundant robot manipulator based on three DOF parallel platforms