The creators of the spiderlike hexa robot say that it can be turned by developers into anything they wish. For choosing the safest parallel manipulator, we developed an evaluation method using robotic safety criteria, including motor speed, motor acceleration, force transmission, and workspace accuracy. Then, in 2009, a hexa parallel robot named shesh, meaning six in farsi, was designed by our team at shiraz university in iran 16. The 3d vision system is combined with the proportionalintegralderivative pid position controller to form a twolevel closedloop controller of the robot. The used index indicates the entrance of the hexa parallel robot, considering its joint limits, to all its direct kinematic singularities. The dynamic model of the robot was studied by lagrangian method and presented in 17.
The purpose of this paper is to present a visionbased method for the kinematic calibration of a sixdegreesoffreedom parallel robot named hexa using only one universal. Direct kinematics of a 6pus parallel robot using a numericgeometric method. Parallel robots parallel robots, also named parallel manipulators, typically consist by a moving platform connected to a. The main problem was to determine under which circumstances a rigid body could. Type synthesis of kinematically redundant parallel. But, these methods have some drawbacks, such as being lengthy procedures and giving. The first and best known member of this new family is the quattro robot, introduced by adept technology in 2009, but several new examples are about to be launched. However, hexa robot suffers from its high price and complexity. Hexa spider robot is frightening and, perhaps, useful cnet. Forward kinematics problem of parallel robots is very difficult to solve in comparison to the serial manipulators. Design, fabrication and experimental adaptiverobust control.
Its product line includes robots, operating systems, applications, and online services. All types of hexa robots are 6dof parallel manipulators. Pdf neural network solution for forward kinematics problem of. The allterrain robot hexa is one of vincrosss famous products. Kinematics of a 6 ruu parallel robots with reconfigurable. Bebek developed a 5 degree of freedom parallel robot for needle injection for. A new breed of fourarmed parallel robots, however, starts to emerge. Plus, with hexa you can create the applications youve been dreaming of. Another type of 6rus manipulators is hexa that proposed by based on 3 dof delta.
The measurement of the 3d vision system is used as. This paper presents an inverse kinematic model for the hexa parallel robot which contains an increased number of geometric parameters compared to the ideal geometry models while still being. For hexa parallel robot this problem was solved by pierrrot pierrrot et al. However, we strongly believe that there is a need for equipment providing more than 3dof arranged in parallel. Calibration of parallel manipulators and their application to. He suggested iterative methods for solving hexa fkp. The focus of this work is the six degrees of freedom d. Gladwell department of civil engineering university of waterloo waterloo, ontario, canada n2l 3gi. Solid mechanics and its applications volume 128 series editor.
Parallel robots may use complex joints like multiple ballandsocket and universal joints, whose restricted motions have a large in. Pdf an extended inverse kinematic model of the hexa. Pdf neural network solution for forward kinematics. Neural network solutions for forward kinematics problem of. Working on a 6rss version of the hexa robot the authors propose a simple inverse kinematic model implemented on a compact control system solution from br. This manipulator has same advantages of delta manipulator, such as. Pdf visionbased calibration of a hexa parallel robot. A method for evaluation and comparison of parallel robots for safe. Vincross is a technology company that designs, develops, and sells consumer robotics. Still improvements of these joints have received scant attention. Stanislaw banka, west pomeranian university of technology abstract in this paper was presented implementation and assumptions of embedded controller based on 32bit arm7 microcontrollers for hexa parallel robot.
Four limbs of the robot forms a fully parallel schonfliesmotion robot, with a sixbar linkage to locate the second endeffector. A hexa parallel robot that is made at shiraz university 2008 by mahdi ahmadi mahdi. Since currently there are only few efficient and universal tools for modeling, interpretation and kinematic simulation such one has been was developed and implemented. Aug 15, 2017 this tarantula robot is frightening and, perhaps, useful. This paper presents a novel architecture of the visionposition hybrid control for a hexa parallel robot. Dec 11, 2017 article describe new method of simulation of parallel robots.
Angie j valencia c, mauricio mauledoux, and diego a. Inverse and direct kinematics of hexa parallel robot of. Inverse and direct kinematics of hexa parallel robot of six. Mechanics and control crc press book parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight.
Modelling and simulation of 3dof parallel manipulator using. Pdf neural network solution for forward kinematics problem. Pdf neural network solutions for forward kinematics. This paper presents a strategy to safely drive a hexa parallel robot out of direct singularity regions based an index of power. A new procedure allows the formalize able calculation of the direct transformation as well as the inverse transformation and is based on mathematical modeling which. This paper presents a strategy to safely drive a hexa parallel robot out of direct singularity regions. Sipro introduces its robot with parallel kinematic system that combines high performances in terms of working speed, flexibility of use and high payload.
Neural network solution for forward kinematics problem of hexa parallel robot conference paper pdf available in proceedings of the american control conference july 2008 with 627 reads. Shiraz university hexa parallel robot 2009 twice speed. Neural network solutions for forward kinematics problem of hexa parallel robot 297 assembly modes are different configurations of the endeffecter with given values of joint variables exist for this problem. Visionposition hybrid control for a hexa robot using. An international journal on deepdyve, the largest online rental service for scholarly research with thousands of academic publications available at your fingertips. Parallel architecture is always lucrative for many practical applications to improve robot performance beyond the reach of serial manipulators as apparent from table 1. Development of a control system for a hexa parallel robot. Introduction the first known parallel robot was designed as a solution to the competition le prix vaillant, which took place in france, in the early 1900s. Numerical method is suitable for determining forward kinematics for her hex.
May, 2014 the purpose of this paper is to present a visionbased method for the kinematic calibration of a sixdegreesoffreedom parallel robot named hexa using only one universal serial bus usb camera and a chess pattern installed on the robots mobile platform. In this paper, it is proposed structural synthesis of kinematically redundant parallel manipulators based on the hexa parallel robot using graph theory and theory of linear transformations. This tarantula robot is frightening and, perhaps, useful. Neural network solutions for forward kinematics problem of hexa. Visionbased calibration of a hexa parallel robot emerald. The 3d vision system measures the pose of the endeffector after the pid control. A numerical solution for fkp of hexa parallel robot was presented by j. A method for evaluation and comparison of parallel robots for. It is easy to control with your mobile devices it can walk and climb, take photos and videos, check your backyards and dance to the beat. Parallel robots with unconventional joints to achieve under. The method is applied for evaluation and comparison of the delta robot with rotation head, the hexaglide robot, and the hexa robot.
The positions pi are connected to a mobile platform pivot point t i by links of known length l. This index is calculated through the power inspired measure. Embedded control system for hexa parallel robot msc. This paper presents a hexa parallel robots with reconfigurable platforms of schonflies motion and its kinematic study. Programmable, highly maneuverable robot kickstarter.
Kinematics of the hexapod parallel robot 7 to simplify the graphical image of the kinematical scheme of the mechanism, in what follows the intermediate reference systems has been represented by only two axes, so as is often used in most of robotics papers 1, 5, 11. Neural network solutions for forward kinematics problem of hexa parallel robot. Pdf neural network solutions for forward kinematics problem. Purpose the purpose of this paper is to present a visionbased method for the kinematic calibration of a sixdegreesoffreedom parallel robot named hexa using only one universal serial bus. The control algorithm is implemented directly into the. Pdf development of a control system for a hexa parallel robot. Direct singularity closeness indexes for the hexa parallel robot. Parallel tracking and multiple mapping ptamm manual. Aug 31, 2018 type synthesis is a key issue in the design process due to critical parameters which affects the mobility and performance of any kind of mechanism. Pierrot 1990 proposed a hexa parallel robot with the expansion of delta mechanism. Pdf a new control architecture for the hexa parallel robot is presented in this paper. You can connect hexa at anywhere with its own wifi.
But it is clear today that most efforts are dedicated to 6dof machines which are now well known see 8 for an exhaustive enumeration or 3 dof machines see 9 and 10 for good examples of such devices. It uses three servo motors and an arduino system to draw on a pad of paper. Programmable, highly maneuverable robot on kickstarter. Aug 22, 2017 hexa comes with a collection of basic functions, like being able to walk forward but the majority of the programming comes from you the developer. Capable of navigating with its builtin accelerometer, an infrared sensor, and a 720p camera, the hexa robot is a rather intuitive robot that fully understands its environment. The measure behaviors of the minimum power of the system through a singularity fig. Structure comparison and optimal design of 6rus parallel. Visionbased calibration of a hexa parallel robot mehdi dehghani, mahdi ahmadi, alireza khayatian, mohamad eghtesad, mehran yazdi. In order to obtain the mathematical model of a hexa parallel robot, it is necessary to analyze the structure and geometry in order to know the mobility of the robot and the spatial relationships of the elements that compose it. Jun 05, 2014 a 3d printed prototype of spherical parallel manipulator spm with revolute joints consists of two pyramidshape platforms, a base and a top mobile platforms, connected by three equally spaced. The schematic diagram of the analyzed parallel robot is shown in figure 1 and consists of a base defined by an. Amadeusz fedus, west pomeranian university of technology prof.
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