Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning

Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning

This paper proposes a three-degree-of-freedom manifold composed of three linear actuators. The proposed mechanism consists of a workspace suitable for facade cleaning and can compensate for the horizontal position from disturbances in a gondola-based exterior-wall cleaning. We design a cleaning mani...

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Main Authors: Garam Park, Jooyoung Hong, Sungkeun Yoo, Hwa Soo Kim, Taewon Seo
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Kinematics
optimal design
parallel mechanism
3-DOF
workspace
Online Access:https://ieeexplore.ieee.org/document/8950145/
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spelling doaj-99b9ca3a3c774d91bc79181487781d382021-03-30T01:19:44ZengIEEEIEEE Access2169-35362020-01-0189015902210.1109/ACCESS.2020.29640108950145Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade CleaningGaram Park0https://orcid.org/0000-0003-0930-9699Jooyoung Hong1https://orcid.org/0000-0003-0629-7565Sungkeun Yoo2https://orcid.org/0000-0002-5393-2560Hwa Soo Kim3https://orcid.org/0000-0001-7116-7367Taewon Seo4https://orcid.org/0000-0001-9447-7675School of Mechanical Engineering, Hanyang University, Seoul, South KoreaSchool of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South KoreaSchool of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South KoreaDepartment of Mechanical System Engineering, Kyonggi University, Suwon, South KoreaSchool of Mechanical Engineering, Hanyang University, Seoul, South KoreaThis paper proposes a three-degree-of-freedom manifold composed of three linear actuators. The proposed mechanism consists of a workspace suitable for facade cleaning and can compensate for the horizontal position from disturbances in a gondola-based exterior-wall cleaning. We design a cleaning manipulator that can ensure a constant cleaning area by compensating for the disturbance in each direction. The position, velocity kinematic, and Jacobian-based singularity analysis are presented, and kinematic variables are defined to extend a singularity-free workspace. In addition, optimization is performed based on an index that demonstrates the mechanical properties of the manipulator. The result shows how the manipulator compensates for the disturbances as well as the features of the optimization model. This study can be applied to robot manipulators for facade cleaning in the future.https://ieeexplore.ieee.org/document/8950145/Kinematicsoptimal designparallel mechanism3-DOFworkspace
collection DOAJ
language English
format Article
sources DOAJ
author Garam Park
Jooyoung Hong
Sungkeun Yoo
Hwa Soo Kim
Taewon Seo
spellingShingle Garam Park
Jooyoung Hong
Sungkeun Yoo
Hwa Soo Kim
Taewon Seo
Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning
IEEE Access
Kinematics
optimal design
parallel mechanism
3-DOF
workspace
author_facet Garam Park
Jooyoung Hong
Sungkeun Yoo
Hwa Soo Kim
Taewon Seo
author_sort Garam Park
title Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning
title_short Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning
title_full Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning
title_fullStr Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning
title_full_unstemmed Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning
title_sort design of a 3-dof parallel manipulator to compensate for disturbances in facade cleaning
publisher IEEE
series IEEE Access
issn 2169-3536
publishDate 2020-01-01
description This paper proposes a three-degree-of-freedom manifold composed of three linear actuators. The proposed mechanism consists of a workspace suitable for facade cleaning and can compensate for the horizontal position from disturbances in a gondola-based exterior-wall cleaning. We design a cleaning manipulator that can ensure a constant cleaning area by compensating for the disturbance in each direction. The position, velocity kinematic, and Jacobian-based singularity analysis are presented, and kinematic variables are defined to extend a singularity-free workspace. In addition, optimization is performed based on an index that demonstrates the mechanical properties of the manipulator. The result shows how the manipulator compensates for the disturbances as well as the features of the optimization model. This study can be applied to robot manipulators for facade cleaning in the future.
topic Kinematics
optimal design
parallel mechanism
3-DOF
workspace
url https://ieeexplore.ieee.org/document/8950145/
work_keys_str_mv AT garampark designofa3dofparallelmanipulatortocompensatefordisturbancesinfacadecleaning
AT jooyounghong designofa3dofparallelmanipulatortocompensatefordisturbancesinfacadecleaning
AT sungkeunyoo designofa3dofparallelmanipulatortocompensatefordisturbancesinfacadecleaning
AT hwasookim designofa3dofparallelmanipulatortocompensatefordisturbancesinfacadecleaning
AT taewonseo designofa3dofparallelmanipulatortocompensatefordisturbancesinfacadecleaning
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