Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide
| Autor: | Anton Antonov, Alexey Fomin, Victor Glazunov, Yuri Rodionov |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Forward kinematics Control and Optimization Computer science lcsh:Mechanical engineering and machinery Base (geometry) Inverse degree-of-freedom 02 engineering and technology Kinematics CAD modeling Computer Science::Robotics 020901 industrial engineering & automation 0203 mechanical engineering Artificial Intelligence Position (vector) Control theory Orientation (geometry) forward and inverse kinematics parallel mechanism lcsh:TJ1-1570 hexapod with circular guide ComputingMethodologies_COMPUTERGRAPHICS MATLAB modeling Inverse kinematics Mechanical Engineering Parallel manipulator manipulator 020303 mechanical engineering & transports homotopy continuation |
| Zdroj: | Robotics, Vol 10, Iss 31, p 31 (2021) Robotics Volume 10 Issue 1 |
| ISSN: | 2218-6581 |
| Popis: | The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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