Parallel Manipulators Applications—A Survey
Affiliation(s)
Department of Mechanical Engineering, A. D. Patel Institute of Technology, New Vallabh Vidyanagar, India. Department of Mechanical Engineering, Birla Vishvakarma Mahavidyalaya Engineering College, Vallabh Vidyanagar, India.
Department of Mechanical Engineering, A. D. Patel Institute of Technology, New Vallabh Vidyanagar, India. Department of Mechanical Engineering, Birla Vishvakarma Mahavidyalaya Engineering College, Vallabh Vidyanagar, India.
ABSTRACT
This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the base by several independent kinematic chains. The classification of various parallel manipulators is presented herewith. The prime focus of the paper is to realize the parallel manipulators applications for industry, space, medical science or commercial usage by orienting manipulator in the space at the high speed with a desired accuracy.
This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the base by several independent kinematic chains. The classification of various parallel manipulators is presented herewith. The prime focus of the paper is to realize the parallel manipulators applications for industry, space, medical science or commercial usage by orienting manipulator in the space at the high speed with a desired accuracy.
Cite this paper
Y. Patel and P. George, "Parallel Manipulators Applications—A Survey," Modern Mechanical Engineering, Vol. 2 No. 3, 2012, pp. 57-64. doi: 10.4236/mme.2012.23008.
Y. Patel and P. George, "Parallel Manipulators Applications—A Survey," Modern Mechanical Engineering, Vol. 2 No. 3, 2012, pp. 57-64. doi: 10.4236/mme.2012.23008.
References
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[1] W. L. Pollard, “Position Controlling Apparatus,” US Patent No. 2286571, 1942 [2] V. E. Gough and S. G. Whitehall, “Universal Tyre Test Machine,” Proceedings of 9th International Congress FISITA, May 1962, pp. 117-137 [3] D. Stewart, “A Platform with Six Degrees of Freedom,” Proceedings of the Institution of Mechanical Engineers, Vol. 180, No. 1, 1965, pp. 371-386.doi:10.1243/PIME_PROC_1965_180_029_02 [4] S. M. Wang and K. F. Ehmann, “Error Model and Accuracy Analysis of a six-Dof Stewart Platform,” ASME Journal of Manufacturing Science and Engineering, Vol. 124, No. 2, 2002, pp. 286-295. doi:10.1115/1.1445148 [5] J. Hollingum, “Features: Hexapods to Take Over?” Industrial Robot: An international Journal, Vol. 24, No. 6, 1997, pp. 428-431. doi:10.1108/01439919710192554 [6] P. Bailey, “The Merits of Hexapods for Robotics Applications,” Conference on Next Steps for Industrial Robotics, London, 17 May 1994, pp. 11/8-16/8. [7] B. Dasguptaa and T. S. Mruthyunjaya, “The Stewart Platform Manipulator: A Review,” Mechanism and Machine Theory, Vol. 35, No. 1, 2000, pp. 15-40.doi:10.1016/S0094-114X(99)00006-3 [8] J. Funda and R. P. Paul, “A Computational Analysis of Screw Transformations in Robotics,” IEEE Transactions on Robotics and Automation, Vol. 6, No. 3. 1990, pp. 348- 356. doi:10.1109/70.56653 [9] D. Karimi and M. J. Nategh, “A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough- Stewart Mechanism,” Journal of Applied Mathematics, Vol. 2011, 2011, Article ID: 393072, 17 Pages. [10] C. Gosselin and J F Hamel, “The Agile Eye: A High- Performance Three-Degree-of-Freedom Camera-Orienting Device,” IEEE International Conference on Robotics and Automation, San Diego, 8-13 May 1994, pp. 781-786. [11] L. Bonev, “The True Origin of Parallel Robots,” An Arti- cle for ParallelMic, January 2003.http://www.parallemic.org/Reviews/Review007.html [12] J. Wang, C. Wu and X. J. Liu, “Performance Evaluation of Parallel Manipulators: Motion/Force Transmissibility and Its Index,” Mechanism and Machine Theory, Vol. 45, No. 10, 2010, pp. 1462-1476doi:10.1016/j.mechmachtheory.2010.05.001 [13] L. E. Bruzzone, R. M. Molfino and R. P. Razzoli, “Modelling and Design of Parallel Robot for Laser Cutting Applications,” Proceedings of IASTED International Conference on Modelling, Identification and Control (MIC2002), Innsbruck, February 18-21 2002, pp. 518-522. [14] X.-J. Liu, J. I. Jeong and J. Kim, “A Three Translational DoFs Parallel Cube-Manipulator,” Robotica, Vol. 21, No. 6, 2003, pp. 645-653.http://dx.doi.org/10.1017/S0263574703005198 [15] E. H. Anderson, M. F. Cash, J. L. Hall and G. W. Pettit, “Hexapods for Precision Motion and Vibration Control,” American Society for Precision Engineering, Control of Precision Systems Conference, Cambridge, 19-20 April 2004, pp. 1-5. [16] M.-S. Tsai, et al., “Direct Kinematic Analysis of a 3-PRS Parallel Mechanism,” Mechanism and Machine Theory, Vol. 38, No. 1, 2003, pp. 71-83.http://dx.doi.org/10.1016/S0094-114X(02)00069-1 [17] O. Company and F. Pierrot, “Modeling and Design Issues of a 3-Axis Parallel Machine Tool,” Mechanism and Ma- chine Theory, Vol. 37, No. 11, 2002, pp. 1325-1345.http://dx.doi.org/10.1016/S0094-114X(02)00040-X [18] C. Connolly, “ABB High-Speed Picking Robots Establish Themselves in Food Packaging,” Industrial Robot: An Inter- national Journal, Vol. 34, No. 4, 2007, pp. 281-284 [19] L. Angel, J. M. Sebastian, R. Saltaren and R. Aracil, “Robot Tenis System Part II: Dynamics and Control,” Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005, Seville, 12-15 December 2005, pp. 2030-2034.doi:10.1109/CDC.2005.1582459 [20] S.R. Oh and S. K. Agrawal, “A Reference Governor Based Controller for a Cable Robot under Input Constraints,” IEEE Transactions on Control Systems Technology, Vol. 13, No. 4, 2005, pp. 639-645.http://dx.doi.org/10.1109/TCST.2004.841668 [21] R. L. Williams II, B. Snyder, J. S. Albus and R. V. Bos- telman, “Seven DOF Cable Suspended Robot with Inde- pendent Metrology,” Proceedings of DETC’04, ASME Design Engineering Technical Conferences and Com- puters and Information in Engineering Conference, Sep- tember 28-October 2 2004, Salt Lake City, pp. 317-325. [22] S. Lahouar, E. Ottaviano, S. Zeghoul, L. Romdhane and M. Ceccarelli, “Collision Free Path-Planning for CableDriven Parallel Robots,” Robotics and Autonomous Sys- tems, Vol. 57, No. 11, 2009, pp. 1083-1093.doi:10.1016/j.robot.2009.07.006 [23] T. P. Jones and G. R. Dunlop, “Analysis of Rigid-Body Dynamics for Closed Loop Mechanisms—Its Application to a Novel Satellite Tracking Device,” Journal of Systems & Control Engineering, Vol. 217, No. 4, 2003, pp. 285- 298. [24] F. Xi, A. Ross and S. Lang, “Exploring a Re-Configurable Parallel Robot for Space Applications,” Proceeding of the 6th International Symposium on Artificial Intelli- gence and Robotics & Automation in Space: I-SAIRAS 2001, Canadian Space Agency, St-Hubert, 18-22 June 2001, pp. 1-8. [25] M. Wapler, V. Urban, et al., “A Stewart Platform for Precision Surgery,” Transactions of the Institute of Meas- urement and Control, Vol. 25, No. 4, 2003, 329-334.doi:10.1191/0142331203tm092oa [26] J. R. Mendoza-Vázquez, et al., “Simulation of a Parallel Mechanical Elbow with 3 DOF,” Journal of Applied Research and Technology, Vol. 7, No. 2, 2009, pp. 113-123. [27] Y. Li and Q. Xu, “Design and Development of a Medical Parallel Robot for cardiopulmonary Resuscitation,” IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 3, 2007, pp. 265-273. doi:10.1109/TMECH.2007.897257 [28] G. Rosati, M. Andreolli, A. Biondi and P. Gallina, “Performance of Cable Suspended Robots for Upper Limb Rehabilitation,” Proceedings of the IEEE 10th Internatio- nal Conference on Rehabilitation Robotics ICORR2007, Noordwijk, 13-15 June 2007, pp. 385-392, [29] S. Lessard, P. Bigras, I. A. Bonev S. Briot and V. Arake- lian, “Optimum Static Balancing of the Parallel Robot for Medical 3D-Ultrasound Imaging,” 12th IFToMM World Congress, Besan?on, 18-21 June 2007. [30] S.-D. Stan, R. B?lan, V. M?tie? and C. Rad, “Kinematics and Fuzzy Control of ISOGLIDE3 Medical Parallel Robot,” Mechanika, 2009, pp. 62-66.