Forward and Inverse Kinematics in 2-DOF Planar Parallel Continuum Manipulators

2018 ◽  
pp. 231-238 ◽  
Author(s):  
Oscar Altuzarra ◽  
Diego Caballero ◽  
Francisco J. Campa ◽  
Charles Pinto
Keyword(s):  
Inverse Kinematics ◽  
Continuum Manipulators ◽  
Forward And Inverse Kinematics

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems

2005 ◽  
Author(s):  
Paul Bosscher ◽  
Robert L. Williams ◽  
Melissa Tummino
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Search And Rescue ◽  
Kinematic Structure ◽  
Rescue Workers ◽  
Cable Robot ◽  
System Concept ◽  
Moment Resisting ◽  
Calibration Algorithm ◽  
Forward And Inverse Kinematics

This paper introduces a new concept for robotic search and rescue systems. This system uses a rapidly deployable cable robot to augment existing search and rescue mobile robots. This system can greatly increase the range of mobile robots as well as provide overhead views of the disaster site, allowing rescue workers to reach survivors as quickly as possible while minimizing the danger posed to rescue workers. In addition to the system concept, this paper presents a novel kinematic structure for the cable robot, allowing simple translation-only motion (with moment-resisting capability) and easy forward and inverse kinematics for a 3-DOF spatial manipulator. Also, a deployment sequence is described, a rapid calibration algorithm is presented and the workspace of the manipulator is investigated.

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 48 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Forward And Inverse Kinematics ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

MODELING AND SIMULATION OF A 5-AXIS RV-2AJ ROBOT USING SIMMECHANICS

2015 ◽  
Vol 76 (4) ◽  
Author(s):  
Mohammad Afif Ayob ◽  
Wan Nurshazwani Wan Zakaria ◽  
Jamaludin Jalani ◽  
Mohd Razali Md Tomari
Keyword(s):  
Modeling And Simulation ◽  
Inverse Kinematics ◽  
Cad Model ◽  
Robot Arm ◽  
Simulation Environment ◽  
Kinematics Simulation ◽  
Real Robot ◽  
Forward And Inverse Kinematics ◽  
Simulation Results ◽  
Multi Body

This paper presents the reliability and accuracy of the developed model of 5-axis Mitsubishi RV-2AJ robot arm. The CAD model of the robot was developed by using SolidWorks while the multi-body simulation environment was demonstrated by using SimMechanics toolbox in MATLAB. The forward and inverse kinematics simulation results proposed that the established model resembles the real robot with accuracy of 98.99%. 

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