A Real Time Solution to the Forward Kinematic Problem of a General Spherical Three-Degree-of-Freedom Parallel Manipulator

1995 ◽  
Author(s):  
Roger Boudreau
Keyword(s):  
Real Time ◽  
Parallel Manipulator ◽  
Computation Time ◽  
Degree Of Freedom ◽  
Learning Networks ◽  
Time Solution ◽  
Forward Kinematic Problem ◽  
Time Required ◽  
Forward Kinematic ◽  
Three Degree Of Freedom

Abstract In this paper, a real time solution to the forward kinematic problem of a general spherical three-degree-of-freedom parallel manipulator is presented using polynomial learning networks. These networks learn the forward kinematic problem based on a database of input-output examples. After the learning process has been achieved, the networks exhibit very little error when presented with inputs which were not part of the learning database. The computation time required to compute the forward kinematics is very small since the networks consist only of additions and multiplications.

Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots

2020 ◽  
Vol 12 (6) ◽  
Author(s):  
Kefei Wen ◽  
Clément M. Gosselin
Keyword(s):  
Real Time ◽  
Unique Solution ◽  
Kinematic Analysis ◽  
Parallel Robots ◽  
Degree Of Freedom ◽  
Real Time Control ◽  
The Real ◽  
Time Control ◽  
Forward Kinematic Problem ◽  
Forward Kinematic

Abstract This paper focuses on the forward kinematic analysis of (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robots. Because all of the singularities are avoidable, the robot can cover a very large orientational workspace. The control of the robot requires the solution of the direct kinematic problem using the actuator encoder data as inputs. Seven different approaches of solving the forward kinematic problem based on different numbers of extra encoders are developed. It is revealed that five of these methods can produce a unique solution analytically or numerically. An example is given to validate the feasibility of these approaches. One of the provided approaches is applied to the real-time control of a prototype of the robot. It is also revealed that the proposed approaches can be applied to other kinematically redundant hybrid parallel robots proposed by the authors.

scholarly journals Spatial Three Degree of Freedom Parallel Manipulator Forward Kinematic Position Analysis

2018 ◽  
Vol 7 (4.5) ◽  
pp. 147
Author(s):  
Srinivasa Rao Pundru ◽  
Mohan Rao Nallur
Keyword(s):  
Parallel Manipulator ◽  
Linear Equations ◽  
Degree Of Freedom ◽  
Algebraic Equations ◽  
Position Analysis ◽  
Non Linear ◽  
Kinematic Position ◽  
Moving Platform ◽  
Forward Kinematic ◽  
Three Degree Of Freedom

This work presents forward kinematic position analysis of a spatial three degree of freedom parallel manipulator, which has three symmetric loops. The three loops consist of an actuated sliding links- rotational and spherical joints. The actuated sliding links are attached to inclined base platform via rotational joints. The limbs are connected from rotational joints to moving platform by spherical joints. The degree of freedom of a spatial parallel manipulator is analyzed via kutzbach criterion. The forward kinematic position analysis carried out by using 3-coupled trigonometric equations which are formulated with side and behaviour constraints of the manipulator. There are many difficulties in solving the system of non-linear equations in kinematics of manipulator therefore by using MATLAB the three non-linear coupled algebraic equations are solved. The forward position kinematic analysis part is used in the development procedure of spatial parallel manipulator to check, the required and obtained positions of the moving platform of the developed manipulator.  

Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator

2006 ◽  
Vol 129 (3) ◽  
pp. 320-325 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three-DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base mounted, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of the tangent of the half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

1989 ◽  
Vol 111 (2) ◽  
pp. 202-207 ◽  
Author(s):  
C. Gosselin ◽  
J. Angeles
Keyword(s):  
Numerical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Design Criteria ◽  
Kinematic Design ◽  
Three Degree Of Freedom

In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 475-485 ◽  
Author(s):  
Zhen Huang ◽  
Y. Lawrence Yao
Keyword(s):  
Closed Form ◽  
Analytical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
New Method ◽  
Numerical Example ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

Kinematics of a New High Precision Three Degree-of-Freedom Parallel Manipulator

2005 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most sixteen assembly configurations for the manipulator. In addition, it is shown that the sixteen solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

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