Source: http://www.proceedings.blucher.com.br/article-details/estudo-de-uma-nova-estrutura-robtica-paralela-combinada-11897
Timestamp: 2019-04-23 08:06:36+00:00

Document:
As estruturas robóticas são comumente divididas em estruturas seriais, paralelas e híbridas. A estrutura serial consiste de um elemento terminal, ligado a uma base por meio de uma cadeia cinemática única. Uma estrutura paralela por sua vez pode ser descrita como um mecanismo formado por um elemento terminal, ligado a uma base fixa por meio de duas ou mais cadeias cinemáticas. As estruturas paralelas podem ter algumas vantagens sobre as estruturas seriais, como melhores índices de rigidez e capacidade maior de carga, porém sofrem com um espaço de trabalho limitado e maior complexidade na modelagem matemática. O terceiro tipo de estruturas são as híbridas, combinações das estruturas seriais com as estruturas paralelas. Dentro das estruturas hibridas existem também combinações entre estruturas paralelas. Desta forma este trabalho apresenta uma nova estrutura robótica paralela combinada. Esta é formada pelo mecanismo 5R plano simétrico e o mecanismo esférico paralelo. O modelo matemático desta nova estrutura é calculado através dos modelos individuais das estruturas que a compõem. Finalmente, foi desenvolvido o modelo gráfico tridimensional da nova estrutura robótica paralela combinada e confrontado com o modelo matemático.
Robotic structures are commonly divided into serial, parallel and hybrid structures. The serial structure consists of an end-effector attached to a base through a single kinematic chain. A parallel structure on the other hand can be described as a mechanism composed of an end-effector connected to a fixed base through two or more kinematic chains. Parallel structures can have some advantages over serial structures, such as better stiffness and higher carry load, but suffer with a limited workspace and a greater complexity in their mathematical modeling. The third type of structure is the hybrid structures, combinations of serial and parallel structures. These can also consist of a combination between more than one parallel structure. This paper’s objective is to study the combined parallel structures composed by multiple parallel mechanisms. Starting with a review on the hybrid structures, composed by parallel structures, in this paper a new structure is proposed. It is formed by the 5R symmetrical parallel mechanism and the spherical parallel mechanism. The mathematical modeling of this new structure is calculated through the individual models of the structures that compose it. Finally, a tridimensional graphic model of the new structure was developed and confronted with the mathematical model.
 Badescu, M.; Mavroidis, C. New Performance Indices and Workspace Analysis of Reconfigurable Hyper-Redundant Robotic Arms. The International Journal of Robotics Research, v. 23, n. 6, p. 643-659, 2004.
 Badescu, M.; Mavroidis, C.; Morman, J. Workspace Optimization of Orientational 3-Legged UPS Parallel Platforms.
 Proceedings of the 2002 ASME International Design Engineering Technical Conferences and the Computers and Information in Engineering Conference (DETC/CIE), 2002.
 Bai, S. Optimum design of spherical parallel manipulators for a prescribed workspace, Mechanism and Machine Theory 45, p. 200–211, 2010.
 Gonçalves, R. S. Estudo De Rigidez De Cadeias Cinemáticas Fechadas. 2009. 239 (Tese de Doutorado). Universidade Federal de Uberlândia.
 Gosselin, C.M., Pierre, E.S., Gagne, M. On the Development of the Agile Eye, IEEE Robotics Andamp;Automation Magazine 29, 1996.
 Li, T., Payandeh, S. Design of spherical parallel mechanisms for application to laparoscopic surgery, Robotica 20, p.133–138, 2002.
 Liu, X.-J., Wang, J., Pritschow, G. Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory 41, p. 145-169, 2006a.
 Ramadan, A. A., Takubo, T., Mae, Y., Ohara, K., Arai, T. Developmental Process of a Chopstick-Like Hybrid-Structure Two-Fingered Micromanipulator Hand for 3-D Manipulation of Microscopic Objects. IEEE Transactions on Industrial Electronics v. 56, n. 4, p. 1121-1135, 2009.
 Tanev, T. K. Workspace of a Hybrid (Parallel-Serial) Robot Manipulator. Problems Of Engineering Cybernetics And Robotics, v. 56, 2006.
 Yabugaki, H., Ohara, K., Kojima, M., Mae, Y., Tanikawa, T., Arai, T. Automated Stable Grasping with Two-Fingered Microhand using Micro Force Sensor, IEEE International Conference on Robotics and Automation (ICRA), 2013.
 Yoon, J.; Ryu, J. A New Family of Hybrid 4-dof Parallel Mechanisms with Two Platforms and its Application to a Footpad Device. Journal of Robotic Systems, v. 22, n. 5, p. 287-298, 2005.
 Zhao, W., Li, B., Yu, H., Hu, Y. Study on a Novel 6-DOF Combinational Parallel Manipulator, Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, Thailand, 2009.
 Zheng, X. Z.; Bin, H. Z.; Luo, Y. G. Kinematic Analysis of a Hybrid Serial-Parallel Manipulator. International Journal of Advanced Manufacturing Technology, v. 23, p. 925-930, 2004.
Pêgo, João Marcus Teixeira; Carvalho, João Carlos Mendes; Gonçalves, Rogério Sales; "ESTUDO DE UMA NOVA ESTRUTURA ROBÓTICA PARALELA COMBINADA", p. 159-168 . In: Anais do Congresso Nacional de Matemática Aplicada à Indústria [= Blucher Mathematical Proceedings, v.1, n.1]. São Paulo: Blucher, 2015.
Badescu, M.; Mavroidis, C. New Performance Indices and Workspace Analysis of Reconfigurable Hyper-Redundant Robotic Arms. The International Journal of Robotics Research, v. 23, n. 6, p. 643-659, 2004. Badescu, M.; Mavroidis, C.; Morman, J. Workspace Optimization of Orientational 3-Legged UPS Parallel Platforms. Proceedings of the 2002 ASME International Design Engineering Technical Conferences and the Computers and Information in Engineering Conference (DETC/CIE), 2002. Bai, S. Optimum design of spherical parallel manipulators for a prescribed workspace, Mechanism and Machine Theory 45, p. 200–211, 2010. Bai, S., Hansen, M.R., Angeles, J. A robust forward-displacement analysis of spherical parallel robots, Mechanism and Machine Theory 44, p. 2204–2216, 2009 Gonçalves, R. S. Estudo De Rigidez De Cadeias Cinemáticas Fechadas. 2009. 239 (Tese de Doutorado). Universidade Federal de Uberlândia. Gosselin, C.M., Hamel, J.-F. The agile eye: a high-performance three-degree-of-freedom camera-orienting device, IEEE International Conference on Robotics and Automation, 1994 Gosselin, C.M., Pierre, E.S., Gagne, M. On the Development of the Agile Eye, IEEE Robotics Andamp;Automation Magazine 29, 1996. Li, T., Payandeh, S. Design of spherical parallel mechanisms for application to laparoscopic surgery, Robotica 20, p.133–138, 2002. Liu, X.-J., Wang, J., Pritschow, G. Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory 41, p. 145-169, 2006a. Ramadan, A. A., Takubo, T., Mae, Y., Ohara, K., Arai, T. Developmental Process of a Chopstick-Like Hybrid-Structure Two-Fingered Micromanipulator Hand for 3-D Manipulation of Microscopic Objects. IEEE Transactions on Industrial Electronics v. 56, n. 4, p. 1121-1135, 2009. Tanev, T. K. Workspace of a Hybrid (Parallel-Serial) Robot Manipulator. Problems Of Engineering Cybernetics And Robotics, v. 56, 2006. Wu, H.; Handroos, H.; Pessi, P. A Hybrid Parallel Robot. Conference on Robotics, Automation and Mechatronics, p. 640-644, 2008 Yabugaki, H., Ohara, K., Kojima, M., Mae, Y., Tanikawa, T., Arai, T. Automated Stable Grasping with Two-Fingered Microhand using Micro Force Sensor, IEEE International Conference on Robotics and Automation (ICRA), 2013. Yoon, J.; Ryu, J. A New Family of Hybrid 4-dof Parallel Mechanisms with Two Platforms and its Application to a Footpad Device. Journal of Robotic Systems, v. 22, n. 5, p. 287-298, 2005. Zhao, W., Li, B., Yu, H., Hu, Y. Study on a Novel 6-DOF Combinational Parallel Manipulator, Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, Thailand, 2009. Zheng, X. Z.; Bin, H. Z.; Luo, Y. G. Kinematic Analysis of a Hybrid Serial-Parallel Manipulator. International Journal of Advanced Manufacturing Technology, v. 23, p. 925-930, 2004.

References: v. 
 v. 
 v. 
 v. 
 v. 
 v. 
 v. 
 v. 
 v. 
 v.