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Search Results (9)

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Keywords = 3-UPU parallel mechanism

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27 pages, 4375 KB  
Article
Dynamic Modeling and Performance Analysis of a Novel Dual-Platform Biped Robot Based on a 4-UPU Parallel Mechanism
by Zhaofeng Shi, Shengtao Song, Ruiqin Li, Fengping Ning, Lei Zhang and Lianzheng Deng
Machines 2025, 13(12), 1094; https://doi.org/10.3390/machines13121094 - 26 Nov 2025
Viewed by 218
Abstract
Biped robots based on parallel mechanisms hold great potential for applications in complex terrains. Based on a 4-UPU parallel mechanism, this paper proposes a novel biped robot that achieves alternating bipedal locomotion and turning with only six actuators by employing fixed/moving platform switching [...] Read more.
Biped robots based on parallel mechanisms hold great potential for applications in complex terrains. Based on a 4-UPU parallel mechanism, this paper proposes a novel biped robot that achieves alternating bipedal locomotion and turning with only six actuators by employing fixed/moving platform switching and following an “upper platform + lower foot” continuous gait strategy. Using the influence coefficient method, the first order and second order kinematic influence coefficient matrices of the biped robot were derived. Based on the principle of virtual work, a dynamic model of the robot was formulated, and its validity was verified through numerical simulations. The dynamic performance of the robot was further evaluated using the Dynamic Manipulability Ellipsoid (DME) index, while its stability during step-climbing and turning was analyzed using the Zero-Moment Point (ZMP) method. The results demonstrate that the dual-platform biped robot features a rational structure and exhibits robust stability during step-climbing and turning. Full article
(This article belongs to the Special Issue The Kinematics and Dynamics of Mechanisms and Robots)
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24 pages, 12784 KB  
Article
A Fiber-Optic Six-Axis Force Sensor Based on a 3-UPU-Compliant Parallel Mechanism
by Jiachen Ma, Siyi Chen, Haiting Di and Ke Liu
Appl. Sci. 2025, 15(13), 7548; https://doi.org/10.3390/app15137548 - 4 Jul 2025
Cited by 1 | Viewed by 703
Abstract
Traditional six-axis force sensors are mostly based on resistance strain, piezoelectricity and capacitors, which have poor resistance to electromagnetic interference. In this paper, a six-axis force sensor based on bending-sensitive optical fibers is proposed. A 3-UPU-(universal joint–prismatic joint–universal joint) compliant parallel mechanism is [...] Read more.
Traditional six-axis force sensors are mostly based on resistance strain, piezoelectricity and capacitors, which have poor resistance to electromagnetic interference. In this paper, a six-axis force sensor based on bending-sensitive optical fibers is proposed. A 3-UPU-(universal joint–prismatic joint–universal joint) compliant parallel mechanism is adopted in the sensor. The bending-sensitive optical fiber is encapsulated to form a fiber encapsulation module (FEM). The configuration of the FEMs within the six-axis force sensor is investigated. Static and stiffness analyses of the sensor are conducted and a force mapping matrix for the sensor is established. Simulation experiments are performed to verify the correctness of the established force mapping matrix. The detection system of the sensor is fabricated and the experiments are carried out to evaluate the performance of the sensor. The experiment results show that the maximum values of type-I errors and type-II errors are 4.52%FS and 3.26%FS, respectively. The maximum hysteresis and repeatability errors are 2.78% and 3.27%. These results verify the effectiveness of the proposed sensor. Full article
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16 pages, 4261 KB  
Article
Research on the Conditions and Optimization of 3-UPU Parallel Manipulators That Naturally Realize Three Translational Degrees of Freedom
by Bo Hu and Peng Bai
Machines 2025, 13(4), 265; https://doi.org/10.3390/machines13040265 - 24 Mar 2025
Cited by 2 | Viewed by 819
Abstract
The characteristics of the degrees of freedom (DOFs) of the 3-UPU parallel mechanisms (PMs) are closely related to the orientations of the ending R joints fixed connected with the platforms. The orientations of the ending revolute (R) joints in the Tsai 3-UPU PM [...] Read more.
The characteristics of the degrees of freedom (DOFs) of the 3-UPU parallel mechanisms (PMs) are closely related to the orientations of the ending R joints fixed connected with the platforms. The orientations of the ending revolute (R) joints in the Tsai 3-UPU PM cannot naturally realize three translational DOFs. First, this paper gives and proves the geometric conditions of the ending R joint fixed to the platforms that can naturally ensure three translational DOFs of the 3-UPU PMs. Second, based on the common motion/force index and good transmission workspace volume of the 3-UPU translational PMs, the performance map of the PMs is drawn, and the corresponding optimization design area of the PMs is obtained. Finally, combined with the obtained optimization design area, in view of the differences in the constraint and stiffness performance of the 3-UPU translational PMs, the multi-objective optimization is carried out using the game theory algorithm, and the orientations of the ending R joints for the 3-UPU translational PMs with good constraint and stiffness performance are obtained. Full article
(This article belongs to the Section Machine Design and Theory)
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17 pages, 6995 KB  
Article
Kinematics and Dynamics Analysis of a 3UPS-UPU-S Parallel Mechanism
by Jing-Shan Zhao, Xiao-Cheng Sun and Song-Tao Wei
Machines 2023, 11(8), 840; https://doi.org/10.3390/machines11080840 - 18 Aug 2023
Cited by 1 | Viewed by 2394
Abstract
In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinematic and dynamic characteristics are subsequently analyzed. [...] Read more.
In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinematic and dynamic characteristics are subsequently analyzed. The kinematic and dynamic analyses of this mechanism are carried out in screw coordinates. Firstly, the inverse kinematics is performed through the kinematic equations established by the velocity screws of each joint to obtain the position, posture, and velocity of each joint within the mechanism. Then, a dynamic modeling method with screw theory for multi-body systems is proposed. In this method, the momentum screws are established by the momentum and moment of momentum according to the fundamentals of screws. By using the kinematic parameters of joints, the dynamic analysis can be carried out through the dynamic equations formed by momentum screws and force screws. This method unifies the kinematic and dynamic analyses by expressing all parameters in screw form. The approach can be employed in the development of computational dynamics because of its simplified and straightforward analysis procedure and its high adaptability for different kinds of multi-body systems. Full article
(This article belongs to the Section Automation and Control Systems)
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18 pages, 8601 KB  
Article
Dynamics of a 3-UPS-UPU-S Parallel Mechanism
by Jing-Shan Zhao, Song-Tao Wei and Xiao-Cheng Sun
Appl. Sci. 2023, 13(6), 3912; https://doi.org/10.3390/app13063912 - 19 Mar 2023
Cited by 5 | Viewed by 2862
Abstract
In this paper, a parallel mechanism with two rotational degrees of freedom is proposed. It could rotate freely and continuously around the two coordinate axes at the fixed origin of the coordinate frame. The structure of the mechanism is a second-order over constraint [...] Read more.
In this paper, a parallel mechanism with two rotational degrees of freedom is proposed. It could rotate freely and continuously around the two coordinate axes at the fixed origin of the coordinate frame. The structure of the mechanism is a second-order over constraint parallel structure and the moving platform and base platform are connected by five kinematic chains. The motion characteristics of this structure are analyzed by reciprocal screw equation. Then, the kinematics and dynamics modelling are carried out systematically in a unified way. The kinematics of the mechanism is established by means of screws, the displacements and accelerations of each joint and any point on a link could be calculated by the kinematic screw equation directly. The analysis of acceleration and its mathematical expression in screw form are given, and the acceleration matrix could be applied into the dynamic analysis based on the Newton–Euler equation. All the constraint forces and torques could be obtained by a single set of Newton–Euler equations. Full article
(This article belongs to the Collection Recent Advances in Mechanical Systems Dynamics)
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23 pages, 14955 KB  
Article
Kinematic Analysis and Verification of a New 5-DOF Parallel Mechanism
by Yesong Wang, Changhuai Lyu and Jiang Liu
Appl. Sci. 2021, 11(17), 8157; https://doi.org/10.3390/app11178157 - 2 Sep 2021
Cited by 11 | Viewed by 3994
Abstract
This paper first designs a new 5-DOF parallel mechanism with 5PUS-UPU, and then analyses its DOF by traditional Grubler–Kutzbach and motion spiral theory. It theoretically shows that the mechanism meets the requirement of five dimensions of freedoms including three-dimensional movement and two-dimensional rotation. [...] Read more.
This paper first designs a new 5-DOF parallel mechanism with 5PUS-UPU, and then analyses its DOF by traditional Grubler–Kutzbach and motion spiral theory. It theoretically shows that the mechanism meets the requirement of five dimensions of freedoms including three-dimensional movement and two-dimensional rotation. Based on this, the real mechanism is built, but unfortunately it is found unstable in some positions. Grassmann line geometry method is applied to analyze its unstable problem caused by singular posture, and then an improving method is put forward to solve it. With the improved mechanism, closed loop vector method is employed to establish the inverse position equation of the parallel mechanism, and kinematics analysis is carried out to get the mapping relationships between position, speed, and acceleration of moving and fixed platform. Monte Carlo method is used to analyze the workspace of the mechanism, to explore the influencing factors of workspace, and then to get the better workspace. Finally, an experiment is designed to verify the mechanism working performance. Full article
(This article belongs to the Topic Industrial Robotics)
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19 pages, 4675 KB  
Article
Concept Design and Load Capacity Analysis of a Novel Serial-Parallel Robot for the Automatic Charging of Electric Vehicles
by Han Yuan, Qiong Wu and Lili Zhou
Electronics 2020, 9(6), 956; https://doi.org/10.3390/electronics9060956 - 8 Jun 2020
Cited by 11 | Viewed by 4934
Abstract
The automatic charging of electric vehicles is an important but challenging problem. Recently, various charging robots are proposed for electric vehicles. Most previous researches do not pay enough attention to the robots’ load capacities. Actually, providing the charging connector with adequate pushing and/or [...] Read more.
The automatic charging of electric vehicles is an important but challenging problem. Recently, various charging robots are proposed for electric vehicles. Most previous researches do not pay enough attention to the robots’ load capacities. Actually, providing the charging connector with adequate pushing and/or pulling forces is vital to guarantee a reliable electrical connection, which is a key issue for charging robot design. In this paper, we present a novel serial-parallel robot for the automatic charging of electric vehicles. This robot is based on the 3 universal-prismatic-universal (3UPU) parallel mechanism and featured by high-load capacity. We firstly address the kinematic and static models of the proposed robot, then analyze its load capacity. It is shown that the robot’s maximum load capacity depends not only on the driving ability of the prismatic joints, but also on the robot’s structural parameters and the robot’s configuration. Finally, optimizations are made and results show that the robot’s load capacity along the desired trajectory has more than doubled. Results of this paper could be useful for the development of automatic electric-vehicle-charging devices. Full article
(This article belongs to the Special Issue Robots in Assisted Living)
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9 pages, 1095 KB  
Article
Reconfiguration Analysis of a 3-DOF Parallel Mechanism
by Maurizio Ruggiu and Xianwen Kong
Robotics 2019, 8(3), 66; https://doi.org/10.3390/robotics8030066 - 2 Aug 2019
Cited by 4 | Viewed by 7935
Abstract
This paper deals with the reconfiguration analysis of a 3-DOF (degrees-of-freedom) parallel manipulator (PM) which belongs to the cylindrical parallel mechanisms family. The PM is composed of a base and a moving platform shaped as equilateral triangles connected by three serial kinematic chains [...] Read more.
This paper deals with the reconfiguration analysis of a 3-DOF (degrees-of-freedom) parallel manipulator (PM) which belongs to the cylindrical parallel mechanisms family. The PM is composed of a base and a moving platform shaped as equilateral triangles connected by three serial kinematic chains (legs). Two legs are composed of two universal (U) joints connected by a prismatic (P) joint. The third leg is composed of a revolute (R) joint connected to the base, a prismatic joint and universal joint in sequence. A set of constraint equations of the 1-RPU−2-UPU PM is derived and solved in terms of the Euler parameter quaternion (a.k.a. Euler-Rodrigues quaternion) representing the orientation of the moving platform and of the Cartesian coordinates of the reference point on the moving platform. It is found that the PM may undergo either the 3-DOF PPR or the 3-DOF planar operation mode only when the base and the moving platform are identical. The transition configuration between the operation modes is also identified. Full article
(This article belongs to the Special Issue Kinematics and Robot Design II, KaRD2019)
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17 pages, 4066 KB  
Article
Stability and Gait Planning of 3-UPU Hexapod Walking Robot
by Ruiqin Li, Hongwei Meng, Shaoping Bai, Yinyin Yao and Jianwei Zhang
Robotics 2018, 7(3), 48; https://doi.org/10.3390/robotics7030048 - 31 Aug 2018
Cited by 13 | Viewed by 10145
Abstract
The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the [...] Read more.
The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains. Full article
(This article belongs to the Special Issue Mechanism Design for Robotics)
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