Position Kinematics of the Generalized Lobster Arm and Its Series-Parallel Dual

1992 ◽  
Vol 114 (3) ◽  
pp. 406-413 ◽  
Author(s):  
V. Murthy ◽  
K. J. Waldron
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Kinematic Chain ◽  
Polynomial Equation ◽  
Specific Geometry ◽  
Univariate Polynomial ◽  
The One ◽  
Dual Mechanism ◽  
The Relationship ◽  
Direct Kinematics

The generalized lobster arm is a six revolute open kinematic chain with 3 consecutive intersecting pairs of axes. A new solution of the inverse position kinematics problem of this arm which takes advantage of its specific geometry is presented. A comparison is made with the direct position kinematics problem of the series-parallel dual mechanism. The equations governing the two problems show strong similarity and can each be reduced to a sixteenth degree univariate polynomial equation. The dual series-parallel mechanism is the one that exhibits, with the lobster arm, the symmetry that exists between the wrench and the velocity motor. Although the results presented here have intrinsic interest, a more generally important feature is the relationship between the solutions to the inverse kinematics of the serial mechanism and the direct kinematics of the parallel mechanism. Although the series-parallel duality has not been shown to hold in the position domain, except in terms of very general characteristics, it is shown here that the two solutions are of the same degree and have other features in common.

Kinematics Analysis of a New 3-DOF Rotational Parallel Mechanism

2012 ◽  
Author(s):  
Ziming Chen ◽  
Wen-ao Cao ◽  
Zhen Huang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Revolute Joints ◽  
The Relationship ◽  
Orientation Workspace

In this paper a new rotational parallel mechanism which has three rotational freedoms is studied. This mechanism consists of only revolute joints. In this mechanism, no joints intersect with each other. The constraint and motion properties are analyzed. The inverse kinematics is solved and the orientation workspace is studied. In the end, the relationship between the orientation workspace and the link lengths is shown.

scholarly journals Design and Analysis of a Novel Tree Climbing Robot Mechanism

2020 ◽  
Author(s):  
Ru-Gui Wang ◽  
Hai-Bo Huang ◽  
Yi Li ◽  
Ji-Wei Yuan
Keyword(s):  
Numerical Simulation ◽  
Physical Model ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Singular Points ◽  
Climbing Robot ◽  
Overall Design ◽  
Forward And Inverse Kinematics ◽  
The Relationship

Abstract In this paper, a novel tree climbing robot mechanism was designed, based on the tree climbing movement and posture of the primates. The overall design and tree climbing gait of the tree climbing robot were analyzed in detail. According to the screw theory, the DOF of the leg of the tree climbing robot is calculated. The forward and inverse kinematics equations of the tree climbing robot were established and solved. The kinematics of the leg parallel mechanism was established, furthermore, the singularity of the leg mechanism was analyzed and three types of singularity were derived. The simplified diagrams and the corresponding model diagrams, at the singular points, were drawn. Finally, the movement is simulated and analyzed. And the changes of the leg joint angular and the foot-end displacement and the relationship between the driving displacement and angles of the tree climbing robot by numerical simulation is obtained at the same time. Prototype physical model of the tree climbing robot was made, which further verified the rationality and feasibility of the tree climbing robot mechanism studied in this paper.

A Computational Algorithm for a Spatial Serial Robot

2011 ◽  
Vol 217-218 ◽  
pp. 233-237
Author(s):  
Xi Guang Huang
Keyword(s):  
Automatic Control ◽  
Inverse Kinematics ◽  
Computational Algorithm ◽  
Polynomial Equation ◽  
Central Problem ◽  
Serial Robots ◽  
Symbolic Calculations ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Univariate Polynomial

The inverse kinematics of serial robots is a central problem in the automatic control of robot manipulators. The aim of this paper is to obtain a computational algorithm to compute the inverse kinematics problem of a spatial serial robot. We use a series of algebraic and numeric transformations to reduce the problem to a univariate polynomial equation. The results can be directly applied to symbolic calculations and decreased considerably the calculation time.

The Direct Kinematics Solution of the 6-RSPS Simulator Platform with BP Networks

2012 ◽  
Vol 591-593 ◽  
pp. 1593-1598
Author(s):  
Jian Jun Li ◽  
Yan Ding Wei ◽  
Xiao Jun Zhou
Keyword(s):  
Inverse Kinematics ◽  
Fundamental Problem ◽  
Training Data ◽  
Parallel Structure ◽  
Bp Network ◽  
Bp Networks ◽  
Testing Data ◽  
Relationship Of ◽  
The Relationship ◽  
Direct Kinematics

A new structure of 6-RSPS simulator platform which can be rotated infinitely is presented. The solution of direct kinematics problem of parallel structure is the fundamental problem. For the solution of this problem, according to the links vector diagram, the relationship of the position and orientation of the platform between the length of links and the rotate angle of the under-hinge is derived. BP network is applied, then using the previous data obtained by inverse kinematics as the training data and testing data of BP network, get the direct kinematics solution. Simulation results verified that the solution of direct kinematics applied the BP network can be meet the requirements completely, and the error percentages are within the acceptable range.

The Kinematics of A-Pair Jointed Serial Linkages

2010 ◽  
Author(s):  
James D. Robinson ◽  
M. John D. Hayes
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Chain ◽  
The Self ◽  
Kinematic Pair ◽  
Specific Configuration ◽  
Direct Kinematics

A new kinematic pair called an algebraic screw pair, or A-pair, is introduced that utilizes the self-motions inherent to a specific configuration of Griffis-Duffy platform. Using the A-pair as a joint in a hybrid parallel-serial kinematic chain results in a sinusoidal coupling of rotation and translation between adjacent links. This motion affects both the direct and inverse kinematics of such chains. Presented in this paper are the direct kinematics of chains using A-pairs and an algorithm for the inverse kinematics of a 4A-pair chain.

Design and Analysis of Parallel Mechanism with Linear Drives Located on the Base at Specified Angles

2021 ◽  
pp. 41-48
Author(s):  
Y.V. Rodionov ◽  
A.N. Sukhostavskiy ◽  
A.A. Romanov ◽  
A.V. Dukhov ◽  
I.V. Pelin
Keyword(s):  
Coordinate System ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Relative Movement ◽  
Structural Synthesis ◽  
Output Link ◽  
Constraint Equations ◽  
Inverse Kinematics Problem

The article considers a novel parallel mechanism with drives located on the base at different angles to its plane. This arrangement allows performing a relative movement between objects under water or in space (in aggressive environments). The new mechanism topology is compact for transportation and efficient for operation in aggressive environments. Structural synthesis has been performed; the number of degrees of freedom of the output link was calculated. A general approach to solving the inverse kinematics problem of positions is proposed and an example for a kinematic chain is shown. Denavit — Hartenberg matrices are used to solve the problem of positions. The position of the output link described by this matrix is used to represent the points of this link in the base coordinate system. The constraint equations are applied, which are the distances between the points of the base and the output link.

The Direct Kinematics Solution of the 6-RSPS Simulator Platform with BP Networks

2014 ◽  
Vol 945-949 ◽  
pp. 1451-1456
Author(s):  
Jian Jun Li ◽  
Chun Jie Yang ◽  
Wei Hong Sun
Keyword(s):  
Inverse Kinematics ◽  
Fundamental Problem ◽  
Training Data ◽  
Parallel Structure ◽  
Bp Network ◽  
Bp Networks ◽  
Testing Data ◽  
Relationship Of ◽  
The Relationship ◽  
Direct Kinematics

A new structure of 6-RSPS simulator platform which can be rotated infinitely is presented. The solution of direct kinematics problem of parallel structure is the fundamental problem. For the solution of this problem, according to the links vector diagram, the relationship of the position and orientation of the platform between the length of links and the rotate angle of the under-hinge is derived. BP network is applied, then using the previous data obtained by inverse kinematics as the training data and testing data of BP network, the direct kinematics solution is obtained. Simulation results verified that the solution of direct kinematics applied the BP network can be meet the requirements completely and the error percentages are within the acceptable range.

scholarly journals Kinematic analysis of the 3-RPS-3-SPR series–parallel manipulator

Robotica ◽  
2018 ◽  
Vol 37 (7) ◽  
pp. 1240-1266 ◽  
Author(s):  
Abhilash Nayak ◽  
Stéphane Caro ◽  
Philippe Wenger
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
End Effector ◽  
Inverse Kinematics Problem ◽  
Univariate Polynomial ◽  
Six Degree Of Freedom ◽  
Independent Parameters ◽  
Direct Kinematics

SUMMARYThis paper deals with the kinematic analysis and enumeration of singularities of the six degree-of-freedom 3-RPS-3-SPR series–parallel manipulator (S–PM). The characteristic tetrahedron of the S–PM is established, whose degeneracy is bijectively mapped to the serial singularities of the S–PM. Study parametrization is used to determine six independent parameters that characterize the S–PM and the direct kinematics problem is solved by mapping the transformation matrix between the base and the end-effector to a point in ℙ7. The inverse kinematics problem of the 3-RPS-3-SPR S–PM amounts to find the location of three points on three lines. This problem leads to a minimal octic univariate polynomial with four quadratic factors.

Kinematics and Dexterity Analysis for a Novel Hybrid Kinematic Machine

2012 ◽  
Vol 516 ◽  
pp. 420-425
Author(s):  
Hong Jian Yu ◽  
Bing Li ◽  
Yang Wang ◽  
Ying Hu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Parametric Design ◽  
Linear Motion ◽  
Experiment Research ◽  
Workspace Analysis ◽  
Parallel Kinematic Mechanism ◽  
Parallel Kinematic ◽  
Kinematic Mechanism ◽  
Direct Kinematics

In this paper a novel 4 Degree-of-Freedom (DOF) parallel mechanism with the configuration of 4PUS-1RPU is applied for a 5-axis Hybrid Kinematic Machine (HKM), combined with an additional linear motion. The Parallel Kinematic Mechanism (PKM) is composed of four symmetrical driving chains and one central passive sub-chain. Firstly, the mechanism is described, and the mobility is analyzed. Then the inverse kinematics of the 4-DOF PKM and the direct kinematics for the serial central sub-chain are then presented. The dexterity and the workspace analysis for the mechanism are also carried out. Finally, machining experiment research is presented to verify the effect of the prototype. The research provides the basis for the further parametric design with consideration of kinematic and dexterity performance.

Manipulator Configurations Based on Rotary-Linear (R-L) Actuators and Their Direct and Inverse Kinematics

1988 ◽  
Vol 110 (4) ◽  
pp. 397-404 ◽  
Author(s):  
D. Kohli ◽  
Soo-Hun Lee ◽  
Kao-Yueh Tsai ◽  
G. N. Sandor
Keyword(s):  
Inverse Kinematics ◽  
Polynomial Equation ◽  
Open Loop ◽  
Degree Of Freedom ◽  
Serial Link ◽  
New Type ◽  
Computationally Intensive ◽  
Six Degree Of Freedom ◽  
Two Degree Of Freedom ◽  
Direct Kinematics

In this paper, a new type of two-degree-of-freedom actuator called the rotary-linear (R-L) actuator is described. The R-L actuator permits a rotation and a translation along the axis of rotation, thus simulating a cylinder pair. The R-L actuators are then used in type synthesis of mechanical manipulator chains. Closed-loop three-, four, five, and six-degree-of-freedom chains containing four to nine links, R-L actuators, revolute pairs (R), prismatic pairs (P), cylindrical pairs (C), and spheric pairs (S) are then obtained. A class of manipulator configurations where the hand is connected to the ground via six-degree-of-freedom dyads or triads and containing three grounded R-L actuators is treated for inverse kinematics. Since all the actuators are on the ground in this configuration, higher payload capacities and smaller actuator sizes can be expected from these configurations. In addition, generally, the computations required for inverse kinematics are also significantly less than those required for serial link open-loop manipulators. The direct kinematics, however, is much more involved and computationally intensive for these manipulators than for serial-link manipulators. The direct kinematics of an example manipulator is derived and requires solution of a 16th-order polynomial equation. Numerical examples are presented for illustration.

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