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

Jan 08, 2023 •274 likes •568 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

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 MEDER 2018
1 Introduction
Decreasing Motive Power STATIC BALANCING MASS RELOCATION Kim and Song; IEEE ICRA; 2013 Kim; IEEE Trans. Robot; 2017 5
SPMs! Agile Eye; Université LAVAL 6
Desired Characteristics 05 Large Range of Motion Higher Payload-to-Weight Over +/- 45 degrees. Ratio Higher payload-to-weight ratio. 01 04 Regular Workspace Simpler Kinematics Higher and consistent mechanism isotropy. Easy to model and control. 02 03 Full Decoupling Independent Yaw and Pitch motions.. 7
2 Modelling & Simulation
Our Approach Mechanism CAD Model Extract Measures Contour Plots Simulation Create conceptual Run kinematic Record and extract Generate workspace design of the simulations spanning platform coordinates and isotropy contours mechanism using CAD the entire actuator and orientation angles against the input tools. range. throughout the actuators. simulation. 9
CAD Models GIMBAL 4-UU 10
CAD Models S5B S6B 11
12 Full Workspace Simulation of 4-UU Mechanism
13 Full Workspace Simulation of S6B Mechanism
3 Analyses
Workspace Analysis ● Platform Position - X,Y,Z Cartesian Coordinates Platform Orientation - Roll, Yaw, Pitch Angles ● 15
16 Workspace Analysis - Position - Gimbal
17 Workspace Analysis - Position - 4-UU
18 Workspace Analysis - Position - S5B
19 Workspace Analysis - Position - S6B
20 Workspace Analysis - Orientation - Gimbal
21 Workspace Analysis - Orientation - 4-UU
22 Workspace Analysis - Orientation - S5B
23 Workspace Analysis - Orientation - S6B
Isotropy Analysis Kim and Khosla; IEEE IROS; 1991 24
25 Isotropy Analysis
Conclusions Warping Parasitic Motion Mechanism behaviours are not Platform posses undesired Roll motion in symmetric, i.e., the plots are not centered case of 4-UU . Central gimbal prevents the with absolute zero. Workspace diverges same for S5B and S6B. towards the extremes. More evident in case of 4-UU . Coupling Anisotropy Pitch and yaw motions of the Mechanisms are not fully isotropic mechanisms are dependent of each throughout the workspace. S6B best with other. Δ ≥ 0.9 . Shah, Metta and Parmiggiani; ASME IDETC; 2018 26
Opening! Post- Doc on “The design of better iCub Hands” alberto.parmiggiani@iit.it 27
Grazie! Any questions? divya.shah@iit.it www.iit.it/people/divya-shah 28
“ FINITO! 29

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