Buongiorno! Divya Shah , , Gio iorgio Metta, Alb lberto Parmig - - PowerPoint PPT Presentation

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Buongiorno! Divya Shah , , Gio iorgio Metta, Alb lberto Parmig - - PowerPoint PPT Presentation

Jan 08, 2023 274 likes •570 views

Buongiorno! Divya Shah , , Gio iorgio Metta, Alb lberto Parmig iggiani divya.shah@iit.it 1 Background MEDER, IIT, UDINE GENOVA HOME, MUMBAI 2 Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms IFToMM

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Buongiorno!

Divya Shah, , Gio iorgio Metta, Alb lberto Parmig iggiani

divya.shah@iit.it

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Background

IIT, GENOVA

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MEDER, UDINE HOME, MUMBAI
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Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms

IFToMM MEDER 2018
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Introduction

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Decreasing Motive Power

STATIC BALANCING MASS RELOCATION

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Kim; IEEE Trans. Robot; 2017 Kim and Song; IEEE ICRA; 2013
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SPMs!

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Agile Eye; Université LAVAL
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Desired Characteristics

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Large Range of Motion Over +/- 45 degrees. Regular Workspace Higher and consistent mechanism isotropy. Higher Payload-to-Weight Ratio Higher payload-to-weight ratio. Simpler Kinematics Easy to model and control.

05 01 02 03 04

Full Decoupling Independent Yaw and Pitch motions..
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Modelling & Simulation

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Our Approach

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CAD Model

Create conceptual design of the mechanism using CAD tools.

Mechanism Simulation

Run kinematic simulations spanning the entire actuator range.

Extract Measures

Record and extract platform coordinates and orientation angles throughout the simulation.

Contour Plots

Generate workspace and isotropy contours against the input actuators.
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CAD Models

4-UU

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GIMBAL

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CAD Models

S6B

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S5B

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Full Workspace Simulation of 4-UU Mechanism

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Full Workspace Simulation of S6B Mechanism

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Analyses

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Workspace Analysis

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  • Platform Position - X,Y,Z Cartesian Coordinates
  • Platform Orientation - Roll, Yaw, Pitch Angles
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Workspace Analysis - Position - Gimbal

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Workspace Analysis - Position - 4-UU

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Workspace Analysis - Position - S5B

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Workspace Analysis - Position - S6B

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Workspace Analysis - Orientation - Gimbal

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Workspace Analysis - Orientation - 4-UU

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Workspace Analysis - Orientation - S5B

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Workspace Analysis - Orientation - S6B

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Isotropy Analysis

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Kim and Khosla; IEEE IROS; 1991
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Isotropy Analysis

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Conclusions

Warping

Mechanism behaviours are not symmetric, i.e., the plots are not centered with absolute zero. Workspace diverges towards the extremes. More evident in case of 4-UU.

Parasitic Motion

Platform posses undesired Roll motion in case of 4-UU. Central gimbal prevents the same for S5B and S6B.

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Coupling

Pitch and yaw motions
  • f
the mechanisms are dependent
  • f
each
  • ther.

Anisotropy

Mechanisms are not fully isotropic throughout the workspace. S6B best with Δ ≥ 0.9. Shah, Metta and Parmiggiani; ASME IDETC; 2018
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Opening!

Post-Doc on “The design of better iCub Hands”

alberto.parmiggiani@iit.it

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Grazie!

Any questions?

divya.shah@iit.it www.iit.it/people/divya-shah

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“

FINITO!

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