Robotics - Saba Web Pagesaba.kntu.ac.ir/eecd/ecourses/PR 91/Parallel Robots.pdf · Robotics: a human dream ... Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel

Robotics: Evolution, Technology and Applications

By: Hamid D. Taghirad

Professor

Advanced Robotics and

Automated Systems (ARAS)

Dept. of Electrical Engineering

K.N. Toosi University of Technology

Advance Robotic & Automated Systems (ARAS)

Department of Electrical Engineering – K. N. Toosi U. of Tech.

Parallel Robots

By: Hamid D. Taghirad 5/12/2012 2

Outline

• Introduction

Robotics: a human dream

Robotic evolution

Robot definition

• Robot Classification

Kinematics

Arm configuration

• Robotic Application Parallel Manipulators

CDRPM

• Robotic Application SkyCam

RoboCrane

Giant Telescopes

KNTU CDRPM

• Parallel Robots

Course contents

Textbooks

Marking Scheme

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Introduction

• Human Dream: Build a human clown

Human Arm Robot manipulator

Human Leg Mobile robot

Legged robot

Human Eye Machine vision

Hand-eye task Visual servoing

Listen and talk Sound recognition

Think and decide Artificial intelligence

…

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Introduction

• Dream comes true by

Robots as workers: Manipulators

Manipulator Worker arm

• Robot Definition:

A motorized computer-controlled machine that

can be programmed to do a variety of tasks

especially repeatable and tiresome ones.

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Introduction

• Robot Evolution 1921: Robota introduced in Karel Capek theatre, as a

slave performing compulsory tasks

1962: 1st Robot, Unimation Inc. pneumatically driven

1975-1997: 1st Generation Robot, programmable

robots in a well known environment (servo-controlled,

PLC)

1990- current: 2nd Generation Robot, Intelligent robot

in an unstructured environment (Artificial intelligent)

1995-current: 3rd Generation Robot, Advanced in

structures (Parallel Robots), and in control.

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Introduction

• Manipulator components

Arm Links and joints

Hand End effector

Actuators and drive

Sensors and transducers

Computer and Electronics

Education via software

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Introduction • Robot Subsystems

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Robot Classification

• Arm Configuration

Articulated or serial joint-links

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• Articulated

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• Arm Configuration

Cartesian Robot

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• Cartesian Robot (Gantry)

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Robot Classification • Arm Configuration

SCARA Robot

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Robot Classification • SCARA Robot

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Parallel Robot

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Parallel Robot

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Parallel Robot: Delta Robot

5/12/2012 16

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Cable Driven Parallel Robots

5/12/2012 17

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Robotic Applications • Parallel Robots:

Machine Centers (Variax)

Manufacturer: Giddings & Lewis

Application: 5-axis machining

Architecture: Standard Gough-

Stewart platform

Workspace: 630×630×630 mm

±25° about A/B-axis

Accuracy: 11 µm (volumetric)

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Milling Machines (Metrom)

Manufacturer: METROM

Application: 5-side machining

Architecture: a pentapod with

variable-length

struts


±25° about A axis

Accuracy: 15 µm (volumetric)

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Flight Simulators (CAE)

Manufacturer: CAE Electronics

Application: Flight Simulator

Architecture: Standard Stewart-

Gough platform


±30° about A/B/Caxis

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The Agile Eye (a Spherical Parallel Mechanism)

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Comparison

5/12/2012 22

Specification Serial Parallel

Payload per Moving Mass Low Medium

Stiffness Low High

Acceleration Low High

Singularity Low High

Workspace Medium Low

Production Technology Medium High

Energy Saving Low Medium

Process Low Medium

Cost Medium High

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Robotic Applications • Cable Driven Redundant Parallel Manipulator:

Sky Cam

Impressive movies:

www.skycam.com

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Sky Cam

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RoboCrane

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Robotic Applications

Arecibo Radio telescope in Puerto Rico

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Very Large Array (VLA) in Mew Mexico

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Greenbank telescope in West Virginia

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New Generation of Giant Radio telescopes

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Robotic Applications • SKA each part: Large Adaptive Reflector

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Robotic Applications • Large Adaptive Reflector (LAR)

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Robotic Applications • Next Generation Telescopes

LAR

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LAR

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LAR

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Six DOF with Eight Cables Parallel Manipulator

Macro-Micro Structure

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Three Generations

5/12/2012 36

Specification Serial Parallel CDRPM

Payload per Moving

Mass Low Medium High

Stiffness Low High Medium

Acceleration Low High High

Singularity Low High Medium

Workspace Medium Low High

Production

Technology Medium High Low

Energy Saving Low Medium High

Process Low Medium High

Cost Medium High Low

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By: Hamid D. Taghirad 37

KNTU CDRPM

• Potential Applications

Large Workspace + Heavy Payloads

• Underwater RoboCrane

• Nuclear Fuel Pillar transportation Robot

Large Workspace + High Accuracy

• CNC Machine Tools

• 3D EDM Cutting Machine

• 3D Measuring Machines (CMM)

• 3D Laser Welding

• 3D Laser Cutting

5/12/2012

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KNTU CDRPM


Laser Marking

Accuracy Speed

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KNTU CDRPM


Laser Cutting (Accuracy)

5/12/2012

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KNTU CDRPM


Laser Cutting (Speed)

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KNTU CDRPM


3D Laser Cutting (Current Technology)

5/12/2012

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KNTU CDRPM


3D Laser Cutting

Gantry Robot + 3D Laser Head

5/12/2012

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KNTU CDRPM


3D Laser Cutting (Future Technology)

6DOF CDRPM + Fiber Laser

5/12/2012

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KNTU CDRPM

• Parallel Manipulators:

Cable Driven Parallel Manipulator

• 6 Degrees of Freedom

• 2 Degree of Redundancy

• Cable Driven

• Over-Constrained

5/12/2012

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KNTU CDRPM

5/12/2012

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KNTU CDRPM

• Current Research

Design and Implementation

• Kinematic Analysis and Singularity Avoidance

• Optimal Kinematic Structure

• Dynamic Modeling and Simulations

• Optimal Redundancy Resolution

• Controller Design and Implementation

• Elasticity in Cables

Many B.Sc., M.Sc. And Ph.D. Theses!

• Welcome to Join us!

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Parallel Robots: Course Content

• Introduction:

Robot classification

Kinematic chains

Kutzbach-Grubler criterion

Description of position and orientation

• Rotation matrix

• Screw-axis representation

• Euler angle representations

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• Kinematics analysis of parallel manipulators

Vector loop equations

4RPR manipulator

Hydraulic shoulder manipulator

Stewart Gough manipulator

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• Jacobian:

Angular and linear velocity

Jacobian matrices

Singularity conditions

Conventional Jacobians

• 3RRR manipulator,

• Spatial orientation manipulator

• Stewart Gough manipulator

Screw-based Jacobians

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• Stiffness Analysis:

Force-moment relations

Principle of virtual work • 4RPR manipulator

• Hydraulic shoulder manipulator


Stiffness analysis of parallel manipulators

• Stiffness analysis of Stewart-Gough platform

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• Dynamics:

Dynamics analysis of parallel manipulators

Newton-Euler formulation • 4RPR manipulator


Principle of virtual work,

Lagrange formulation,

General dynamic equations

• Properties of dynamics equations

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• Control:

Introduction to Lyapunov based control of

parallel manipulators

Position control topologies

• Linear and feed forward control

• Inverse dynamics control

• Robust inverse dynamics control

• Adaptive control 4RPR manipulator


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• Motion Control:

Introduction to Lyapunov based control of

parallel manipulators

Control topologies

Linear and feed forward control

Inverse dynamics control

Robust inverse dynamics control

Adaptive control

• 4RPR manipulator


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• Force Control:

Control topologies

• Stiffness control

4RPR manipulator


• Direct force control

4RPR manipulator


• Impedance control

4RPR manipulator


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• Textbooks and References:

Hamid D. Taghirad, “Parallel Robots: Mechanics and Control”, CRC Press, to appear 2012.

Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel manipulators”, New York, Wiley, 1999. (Available for Copy)

J.P. Merlet, “Parallel robots”, Boston, MA: Kluwer Academic Publishers, 2000. (Ebook Available)

L. Sciavicco, B. Siciliano, “Modelling and Control of Robot Manipulators” , Springer Verlag 3nd ed. 2007. (Ebook Available)

Selected papers.

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Parallel Robots: Course Content • Marking Scheme:

Assignments: 30%

• 5 assignments

Kinematics and stiffness analysis

Dynamics analysis

Control

Mid-term Exam: 40% Kinematics and dynamics

Individual Design Project 30% Continuous Research and development

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Robotics - Saba Web Pagesaba.kntu.ac.ir/eecd/ecourses/PR 91/Parallel Robots.pdf · Robotics: a human dream ... Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel

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