Advertisement

A New Algorithm for Gravity Compensation of a 3-UPU Parallel Manipulator

  • M. Banitalebi Dehkordi
  • A. Frisoli
  • E. Sotgiu
  • M. Bergamasco
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

This paper presents a new approach for gravity compensation of a 3-UPU parallel manipulator. The conventional method of computing the effect of gravity force on the end-effector works properly for serial manipulators. However, employing Newton-Euler approach for the parallel robots is computationally expensive and it cannot satisfy the requirements in this work. In order to overcome this difficulty, the new algorithm based on Lagrengian method is proposed. This model is established based on total potential energy of the system as a scalar value and, the position of the end-effector. This paper presents this new algorithm which is more efficient in sense of computation and more proper for Real-Time purposes in parallel robots.

Keywords

Parallel Manipulator Total Potential Energy Parallel Robot Haptic Interface Gravity Compensation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Bibliography

  1. D. Checcacci, E. Sotgiu, A. Frisoli, CA Avizzano, and M. Bergamasco. Gravity compensation algorithms for parallel haptic interface. In Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on, pages 140–145. IEEE, 2002.Google Scholar
  2. S.R. Deepak and GK Ananthasuresh. Static balancing of a four-bar linkage and its cognates. Mechanism and Machine Theory, 2011.Google Scholar
  3. C. Han, J. Kim, J. Kim, and F.C. Park. Kinematic sensitivity analysis of the 3-upu parallel mechanism. Mechanism and Machine Theory, 37(8): 787–798, 2002.zbMATHCrossRefGoogle Scholar
  4. S. Li, A. Frisoli, M. Solazzi, and M. Bergamasco. Mechanical design and optimization of a novel fmri compatible haptic manipulator. In RO- MAN, 2010 IEEE, pages 1–6. IEEE, 2010.Google Scholar
  5. Y. Li and Q. Xu. Kinematic analysis and design of a new 3-dof translational parallel manipulator. Journal of Mechanical Design, 128:729, 2006.CrossRefGoogle Scholar
  6. B. Siciliano and O. Khatib. Springer handbook of robotics. Springer-Verlag New York Inc, 2008.zbMATHCrossRefGoogle Scholar
  7. L.W. Tsai and S. Joshi. Kinematics and optimization of a spatial 3-upu parallel manipulator. Journal of Mechanical Design, 122:439, 2000.CrossRefGoogle Scholar
  8. D.R. Walter, M.L. Husty, and M. Pfurner. The snu 3-upu parallel robot from a theoretical viewpoint. In Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, pages 1–8, 2008.Google Scholar
  9. L. Wang and J. Xi. Smart devices and machines for advanced manufacturing. Springer Verlag, 2008.Google Scholar

Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • M. Banitalebi Dehkordi
    • 1
  • A. Frisoli
    • 1
  • E. Sotgiu
    • 1
  • M. Bergamasco
    • 1
  1. 1.PERCRO, TeCIP InstituteScuola Superiore Sant’AnnaPisaItaly

Personalised recommendations