Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator

Zhi Zhong Tong; Tao Chen; Lei Peng; Hongzhou Jiang; Fengjing He

doi:10.1007/978-3-319-65292-4_31

Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator

Zhi Zhong Tong^*
, Tao Chen
, Lei Peng
, Hongzhou Jiang
, Fengjing He

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A Gough-Stewart parallel manipulator using point decoupled design method is orthogonal only at a single point, which means that it has small high-precision workspace. It is hard to break through its’ restriction to be applied in the field of engineer applications with larger workspace. This paper formulates the problem to guarantee continuous orthogonality when the manipulator rotating along the z-axis, called rotation orthogonality. Compared to traditional optimum, the rotation orthogonality leads to better performances with enlarged workspace. A class of dynamically adjusting generalized Gough-Stewart parallel manipulators (DAGGSPM) is proposed. The dynamically adjusting mechanism for rotation orthogonality and the related algorithm are deduced analytically. Through analysis of three typical cases and numerical verifications, the results show that a DAGGSPM can pave the way for high-precision applications with large scale workspace including laser weapon pointing, scanning microscopes and integrated circuit fabrication.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings
Editors	YongAn Huang, Hao Wu, Zhouping Yin, Honghai Liu
Publisher	Springer Verlag
Pages	359-370
Number of pages	12
ISBN (Print)	9783319652917
DOIs	https://doi.org/10.1007/978-3-319-65292-4_31
State	Published - 2017
Event	10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 - Wuhan, China Duration: 16 Aug 2017 → 18 Aug 2017

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10463 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
Country/Territory	China
City	Wuhan
Period	16/08/17 → 18/08/17

Keywords

A pair of circular hyperboloids
Analytical algorithm
Dynamically adjusting generalized gough-stewart parallel manipulators
Optimum design
Rotation orthogonality

Access to Document

10.1007/978-3-319-65292-4_31

Cite this

Tong, Z. Z., Chen, T., Peng, L., Jiang, H., & He, F. (2017). Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator. In Y. Huang, H. Wu, Z. Yin, & H. Liu (Eds.), Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings (pp. 359-370). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10463 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-65292-4_31

Tong, Zhi Zhong ; Chen, Tao ; Peng, Lei et al. / Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator. Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. editor / YongAn Huang ; Hao Wu ; Zhouping Yin ; Honghai Liu. Springer Verlag, 2017. pp. 359-370 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{7fc1f87851fa4fdd8c6727bed8aac8e6,

title = "Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator",

abstract = "A Gough-Stewart parallel manipulator using point decoupled design method is orthogonal only at a single point, which means that it has small high-precision workspace. It is hard to break through its{\textquoteright} restriction to be applied in the field of engineer applications with larger workspace. This paper formulates the problem to guarantee continuous orthogonality when the manipulator rotating along the z-axis, called rotation orthogonality. Compared to traditional optimum, the rotation orthogonality leads to better performances with enlarged workspace. A class of dynamically adjusting generalized Gough-Stewart parallel manipulators (DAGGSPM) is proposed. The dynamically adjusting mechanism for rotation orthogonality and the related algorithm are deduced analytically. Through analysis of three typical cases and numerical verifications, the results show that a DAGGSPM can pave the way for high-precision applications with large scale workspace including laser weapon pointing, scanning microscopes and integrated circuit fabrication.",

keywords = "A pair of circular hyperboloids, Analytical algorithm, Dynamically adjusting generalized gough-stewart parallel manipulators, Optimum design, Rotation orthogonality",

author = "Tong, \{Zhi Zhong\} and Tao Chen and Lei Peng and Hongzhou Jiang and Fengjing He",

note = "Publisher Copyright: {\textcopyright} 2017, Springer International Publishing AG.; 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 ; Conference date: 16-08-2017 Through 18-08-2017",

year = "2017",

doi = "10.1007/978-3-319-65292-4\_31",

language = "英语",

isbn = "9783319652917",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "359--370",

editor = "YongAn Huang and Hao Wu and Zhouping Yin and Honghai Liu",

booktitle = "Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings",

address = "德国",

}

Tong, ZZ, Chen, T, Peng, L, Jiang, H & He, F 2017, Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator. in Y Huang, H Wu, Z Yin & H Liu (eds), Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10463 LNAI, Springer Verlag, pp. 359-370, 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017, Wuhan, China, 16/08/17. https://doi.org/10.1007/978-3-319-65292-4_31

Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator. / Tong, Zhi Zhong; Chen, Tao; Peng, Lei et al.
Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. ed. / YongAn Huang; Hao Wu; Zhouping Yin; Honghai Liu. Springer Verlag, 2017. p. 359-370 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10463 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator

AU - Tong, Zhi Zhong

AU - Chen, Tao

AU - Peng, Lei

AU - Jiang, Hongzhou

AU - He, Fengjing

PY - 2017

Y1 - 2017

N2 - A Gough-Stewart parallel manipulator using point decoupled design method is orthogonal only at a single point, which means that it has small high-precision workspace. It is hard to break through its’ restriction to be applied in the field of engineer applications with larger workspace. This paper formulates the problem to guarantee continuous orthogonality when the manipulator rotating along the z-axis, called rotation orthogonality. Compared to traditional optimum, the rotation orthogonality leads to better performances with enlarged workspace. A class of dynamically adjusting generalized Gough-Stewart parallel manipulators (DAGGSPM) is proposed. The dynamically adjusting mechanism for rotation orthogonality and the related algorithm are deduced analytically. Through analysis of three typical cases and numerical verifications, the results show that a DAGGSPM can pave the way for high-precision applications with large scale workspace including laser weapon pointing, scanning microscopes and integrated circuit fabrication.

AB - A Gough-Stewart parallel manipulator using point decoupled design method is orthogonal only at a single point, which means that it has small high-precision workspace. It is hard to break through its’ restriction to be applied in the field of engineer applications with larger workspace. This paper formulates the problem to guarantee continuous orthogonality when the manipulator rotating along the z-axis, called rotation orthogonality. Compared to traditional optimum, the rotation orthogonality leads to better performances with enlarged workspace. A class of dynamically adjusting generalized Gough-Stewart parallel manipulators (DAGGSPM) is proposed. The dynamically adjusting mechanism for rotation orthogonality and the related algorithm are deduced analytically. Through analysis of three typical cases and numerical verifications, the results show that a DAGGSPM can pave the way for high-precision applications with large scale workspace including laser weapon pointing, scanning microscopes and integrated circuit fabrication.

KW - A pair of circular hyperboloids

KW - Analytical algorithm

KW - Dynamically adjusting generalized gough-stewart parallel manipulators

KW - Optimum design

KW - Rotation orthogonality

UR - https://www.scopus.com/pages/publications/85028312259

U2 - 10.1007/978-3-319-65292-4_31

DO - 10.1007/978-3-319-65292-4_31

M3 - 会议稿件

AN - SCOPUS:85028312259

SN - 9783319652917

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 359

EP - 370

BT - Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings

A2 - Huang, YongAn

A2 - Wu, Hao

A2 - Yin, Zhouping

A2 - Liu, Honghai

PB - Springer Verlag

T2 - 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017

Y2 - 16 August 2017 through 18 August 2017

ER -

Tong ZZ, Chen T, Peng L, Jiang H, He F. Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator. In Huang Y, Wu H, Yin Z, Liu H, editors, Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. Springer Verlag. 2017. p. 359-370. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-65292-4_31

Analysis for rotation orthogonality of a dynamically adjusting generalized gough-stewart parallel manipulator

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this