Solution of the Forward Kinematics of Parallel Robots Based on Constraint Curves

2022 ◽  
pp. 386-409
Author(s):  
Adrián Peidró ◽  
Luis Payá ◽  
Sergio Cebollada ◽  
Vicente Román ◽  
Óscar Reinoso
Keyword(s):  
Parallel Robots ◽  
Forward Kinematics

Modelling and Simulation of Forward Kinematics for Planar 3-DOF Parallel Robot Based on Simulink

2013 ◽  
Vol 397-400 ◽  
pp. 1552-1557 ◽  
Author(s):  
Xiao Zheng Dang ◽  
Liang Sheng Zhou ◽  
Ling Ping Liao ◽  
Dong Liang
Keyword(s):  
Mathematical Model ◽  
Stress State ◽  
Analytical Approach ◽  
Theoretical Foundation ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Modelling And Simulation ◽  
Forward Kinematics ◽  
Machine System ◽  
Simulation Results

Parallel robots are widely used in the machinery industry. In this paper, a planar 3-RRR parallel robot is researched. The forward kinematics mathematical model is established for this kind of mechanism. On the basis of it, a relevant simulation is carried out through MATLAB/Simulink. Thus, the motion rules and stress state for all parts of the mechanism are described vividly The simulation results show that this method is much more effective and efficient when the simulation is implemented for a certain machine system. Meanwhile, it provides a theoretical foundation and a better analytical approach of simulation for the design and analysis of complex multi-linkage mechanisms in the future.

Topology Analyses and Position Solution Based on Asymmetric and Fewer DOF Parallel Robots

2011 ◽  
Vol 308-310 ◽  
pp. 1252-1257
Author(s):  
Ping An Liu ◽  
Xiao Heng Shi
Keyword(s):  
Degrees Of Freedom ◽  
Analytical Approach ◽  
Structure Design ◽  
Parallel Robots ◽  
Forward Kinematics ◽  
Topology Structure ◽  
Constrained Equations ◽  
Position Solution

By using the theory and method of topology structure design of parallel robotic mechanisms, the degrees of freedom (DOF) is analyzed based on 4-DOF(3T1R) asymmetric parallel robots in this paper. Then, the inverse and forward kinematics of the manipulator are calculated through establishment of constrained equations with analytical approach.

scholarly journals An Efficient Numerical Method for Forward Kinematics of Parallel Robots

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 128758-128766 ◽  
Author(s):  
Qidan Zhu ◽  
Zheng Zhang
Keyword(s):  
Numerical Method ◽  
Parallel Robots ◽  
Forward Kinematics

Performing Nonsingular Transitions Between Assembly Modes in Analytic Parallel Manipulators by Enclosing Quadruple Solutions

2015 ◽  
Vol 137 (12) ◽  
Author(s):  
Adrián Peidró ◽  
José María Marín ◽  
Arturo Gil ◽  
Óscar Reinoso
Keyword(s):  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Parallel Robots ◽  
Forward Kinematics ◽  
Characteristic Polynomials ◽  
Forward Kinematic ◽  
Three Degrees Of Freedom

This paper analyzes the multiplicity of the solutions to forward kinematics of two classes of analytic robots: 2RPR-PR robots with a passive leg and 3-RPR robots with nonsimilar flat platform and base. Since their characteristic polynomials cannot have more than two valid roots, one may think that triple solutions, and hence nonsingular transitions between different assembly modes, are impossible for them. However, the authors show that the forward kinematic problems of these robots always admit quadruple solutions and obtain analytically the loci of points of the joint space where these solutions occur. Then, it is shown that performing trajectories in the joint space that enclose these points can produce nonsingular transitions, demonstrating that it is possible to design simple analytic parallel robots with two and three degrees-of-freedom (DOF) and the ability to execute these transitions.

scholarly journals Kinematic of 4SPRR-SPR parallel robots based on VQTAM

2020 ◽  
Vol 12 (10) ◽  
pp. 168781402096258
Author(s):  
Luo Lan ◽  
Hou Li ◽  
Wu Yang ◽  
Zhang Qi ◽  
Wei Yonghqiao
Keyword(s):  
Neural Network ◽  
Linear Regression ◽  
Surrogate Model ◽  
Search Algorithm ◽  
Parallel Robots ◽  
Local Linear Regression ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
Local Linear Embedding ◽  
Local Linear

4SPRR-SPR parallel robot is a novel closed-loop mechanism. The research of kinematics is the basis of real-time and robust robot control. This paper aims to proposing a method to address a surrogate model of forward kinematics for PMs (Parallel Mechanisms). Herein, the forward kinematics model is derived by training the VQTAM (Vector-Quantified Temporal Associative Memory) network, which originates from a SOM (Self-Organized Mapping). During the processes of training, testing and estimating this neural network, the priority K-means tree search algorithm is utilized, thus improving the training efficacy. Furthermore, LLR (Local Linear Regression), LWR (Local Weighted Linear Regression) and LLE (Local Linear Embedding) algorithms are respectively combined with VQTAM to get three improvement algorithms, aiming to further optimize the prediction accuracy of the networks. To speed up solving the least squared equation in the three algorithms, SVD (Singular Value Decomposition) is introduced. Finally, Data from inverse kinematics by geometric method is obtained, which is for constructing and validating the VQTAM neural network. Results show that the prediction effect of LLE algorithm is better than others, which could be a potential surrogate model to estimate the output of forward kinematics.

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