Forward and Inverse Kinematics Analysis of a Spatial Three-Segment Continuum Robot

2021 ◽  
pp. 407-417
Author(s):  
Chu Anh My ◽  
Duong Xuan Bien ◽  
Le Chi Hieu
Keyword(s):  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Continuum Robot ◽  
Forward And Inverse Kinematics

Kinematics Analysis and Simulation of the Power-on-Live Manipulator

2014 ◽  
Vol 709 ◽  
pp. 316-322
Author(s):  
Xu Dong ◽  
Zhong Cai Zheng ◽  
Yan Gao ◽  
Zhen Ting Jiang ◽  
Hai Yong Xiao
Keyword(s):  
Numerical Simulation ◽  
Dynamic Simulation ◽  
Hydraulic System ◽  
Inverse Kinematics ◽  
Simulation Software ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Six Dof ◽  
Forward And Inverse Kinematics

The Power-On-Live Manipulator with hydraulic system can complete many different repair works in the Substation. This paper focuses on the study of the kinematics of six DOF manipulator, and establishes the forward kinematics equation based on the analysis of the whole power-on-live manipulator. The methods of analytical and geometric are used to complete the power-on-live manipulator’s inverse kinematics calculations, and then the effectiveness of the power-on-live manipulator’s forward and inverse kinematics are verified by the numerical simulation software and the dynamic simulation software.

Forward and Inverse Kinematics Analysis of SMA Spring-Driven Flexible Manipulator

2021 ◽  
pp. 788-800
Author(s):  
Binghang Xiao ◽  
Jianzhe Huang ◽  
Wuji Liu ◽  
Yajun Teng ◽  
Lingfeng Qiao ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Flexible Manipulator ◽  
Kinematics Analysis ◽  
Forward And Inverse Kinematics ◽  
Sma Spring

Kinematics Analysis and Simulation of a 4-DOF Manipulator

2010 ◽  
Vol 44-47 ◽  
pp. 656-660
Author(s):  
Yu Jie Cui ◽  
Jian Ning Hua
Keyword(s):  
Detailed Analysis ◽  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Forward And Inverse Kinematics ◽  
Manipulator Control

Detailed analysis is given to kinematics of a 4-DOF manipulator. Forward and inverse kinematics of the manipulator is performed through Denevit and Hartenberg method. Kinematics equations are obtained, whereupon mathematic formulas are provided for the manipulator control. The effectiveness of kinematics equations is verified by the Robotics Toolbox simulation of the Matlab.

The kinematics and statics of manipulators

2009 ◽  
Vol 223 (9) ◽  
pp. 2155-2166 ◽  
Author(s):  
J-S Zhao ◽  
W Lu ◽  
F Chu ◽  
Z-J Feng
Keyword(s):  
Path Planning ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Static Balance ◽  
Kinematics Analysis ◽  
Virtual Power ◽  
End Effector ◽  
Forward And Inverse Kinematics ◽  
Inverse Velocity

As the kinematics and statics play a very important role in determining the actuating inputs and the effective loads that the end-effector sustains, this article focuses on this issue and proposes an analytical process to study the forward and inverse kinematics and statics of spatial manipulators. As series manipulators and parallel manipulators show different features in kinematics and statics, this article discusses them separately. First, the forward and inverse velocity problems of the manipulator linkages are investigated with reciprocal screw theory. Then, the static balance conditions together with forward and inverse statics of the manipulator linkages are established through virtual power theory. In the kinematics analysis, the primary conditions for feasible motions of an end-effector are addressed through velocity screws. Illustrative examples indicate that the method proposed in this article can be used to guide the singularity identification, path planning, and feasible motion determination.

scholarly journals A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 51 ◽  
Author(s):  
Yeshmukhametov ◽  
Koganezawa ◽  
Yamamoto
Keyword(s):  
Inverse Kinematics ◽  
Tension Control ◽  
Passive Tension ◽  
Robot Arm ◽  
Continuum Robot ◽  
Continuum Structure ◽  
Forward And Inverse Kinematics ◽  
The Wire ◽  
Pushing And Pulling ◽  
The Continuum

Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results.

Forward and Inverse Kinematic of Continuum Robot for Search and Rescue

2013 ◽  
Vol 712-715 ◽  
pp. 2290-2295
Author(s):  
Guang Zhu Meng ◽  
Guang Ming Yuan ◽  
Zhe Liu ◽  
Jun Zhang
Keyword(s):  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Search And Rescue ◽  
Medical Surgery ◽  
Geometrical Approach ◽  
Kinematics Analysis ◽  
Urban Search And Rescue ◽  
Continuum Robot ◽  
New Type ◽  
Mine Collapse

Continuum robot is a new type robot which has many applications,such as medical surgery, mine collapse, urban search and rescue etc. In this paper, the forward and inverse kinematics analysis of continuum robot for search and rescue is presented. The forword kinematic has been formulated by product of exponentials. The inverse kinematics for the robot is carried out by a geometrical approach. Finally, the forward and inverse kinematic simulation is completed by Matlab. The simulation results are given for the robot to illustrate the method effectiveness.

scholarly journals Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Seemal Asif ◽  
Philip Webb
Keyword(s):  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
Inverse Kinematic Problem ◽  
Model Study ◽  
Spherical Wrist ◽  
Forward And Inverse Kinematics ◽  
Articulated Robot

The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

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