scholarly journals Simulation of a parallel mechanical elbow with 3 DOF

2009 ◽  
Vol 7 (02) ◽  
Author(s):  
J. R. Mendoza-Vázquez ◽  
E. Tlelo-Cuautle ◽  
J.L. Vázquez-Gonzalez ◽  
A. Z. Escudero-Uribe
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Mechanical Support ◽  
Simulation And Modeling ◽  
Matlab Simulation ◽  
Geometric Methods ◽  
Kinematics Simulation ◽  
Linear Actuators ◽  
Simulation Results

The kinematics simulation and modeling of a mechanical elbow of 3 degrees of freedom, is introduced by highlighting the main features of the mechanism related to the design criteria. The mechanical elbow is used as a transhumeral prosthetic part, and it has been built as a parallel topology consisting of electric linear actuators and universal joints. The parallel mechanism has 4 legs. 3 are electric linear actuators, and the fourth leg provides mechanical support for the whole structure and holds a DC Motor that performs the action of gripping objects. Furthermore, this paper shows the inverse kinematics for the elbow by geometric methods, and the MatLab‐simulation results show the workspace of the movement and the ability of the mechanical elbow to replicate the movements of a biological one.

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%. 

Inverse Kinematics Analysis of a 2-Dof Spherical Parallel Shift Manipulator

2015 ◽  
Vol 741 ◽  
pp. 687-690
Author(s):  
Lu Xi Chen ◽  
Zhan Xian Li ◽  
Zhi Jun Wang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Inverse Solution ◽  
Structure Characteristic ◽  
Chinese Characters ◽  
Kinematics Analysis ◽  
Parallel Shift ◽  
Kinematics Simulation ◽  
Spherical Parallel Mechanism

Shift manipulator requires the transmission shift lever end Chinese characters ‘Wang’ motion, this paper proposes a kind of 2-Dof asymmetric spherical parallel mechanism to realize the movement. The structure characteristic and the trajectory of the manipulator are described. The position inverse solution of the 2-Dof spherical parallel mechanism is obtained by inverse kinematics analysis. Inverse kinematics simulation of the parallel mechanism is proposed finally.

A Planar Spring-Loaded Cable-Loop-Driven Parallel Mechanism

2010 ◽  
Author(s):  
Hanwei Liu ◽  
Cle´ment Gosselin ◽  
Thierry Laliberte´
Keyword(s):  
Numerical Simulations ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Static Equilibrium ◽  
Equilibrium Equations ◽  
Two Degrees Of Freedom

A novel architecture of planar spring-loaded cable-loop-driven parallel mechanism is introduced in this paper. By attaching springs to the cable loops, two degrees of freedom can be controlled using only two actuators. In this mechanism, spools are eliminated. Therefore, it is expected that the accuracy of this mechanism is improved compared with conventional cable-driven mechanisms making use of spools. The mechanism can be actuated using either linear sliders or rotary actuators driving the motion of a cable or belt. This paper presents the inverse kinematics and the static equilibrium equations for the new architecture. It is verified that the cables and the springs can be kept in tension within the workspace. Results of numerical simulations are also given.

Kinematics Analysis and Torch Pose Fitting for Welding Robot

2014 ◽  
Vol 940 ◽  
pp. 153-158
Author(s):  
Run Xin Qu ◽  
Yuan Yuan Zou ◽  
Xiao Wei An ◽  
Si Jun Zhu
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Kinematics ◽  
Automatic Welding ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Welding Torch ◽  
Simulation Results ◽  
Large Work

Giant structure processes involve highly dangerous manual welding operations. aiming at the welding for giant structures, tankers and other large work pieces, a five degrees of freedom (DOF) gantry type automatic welding robot was developed which has our own property right. Forward/inverse kinematics for the mechanical structure is analyzed in which pose of the welding torch is defined as a free vector. Then kinematics equations were proposed for torch pose fitting. Finally, simulation results for robot kinematics analysis and torch pose fitting were also proposed with Matlab. The result not only proves the feasibility of torch pose fitting, but also provides a basis for further study on kinematic analysis, torch pose fitting and off-line programming about gantry type automatic welding robot.

Inverse Kinematics Simulation for a Surgical Robot Using CATIA

2015 ◽  
Vol 780 ◽  
pp. 49-54
Author(s):  
Shao Gang Liu ◽  
Edris Farah
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
3D Model ◽  
Geometric Approach ◽  
Surgical Robot ◽  
Six Degrees Of Freedom ◽  
Kinematics Simulation ◽  
Kinematics Modeling ◽  
Model Equations ◽  
The Mathematical Model

Robotic arm with six degrees of freedom can be successfully used to do a surgical task through a small incision called (RCM point) on the patient's body. Inverse Kinematics modeling and simulating of a 6 DOF surgical robot is developed in this paper. The mathematical model equations are built using geometric approach and the Denavit-Hartenberg convention. The 3D model of the robot is created by CATIA5 to simulate the motion of the robot in surgical environments. The inverse kinematics equations model is validated through the simulating model. Result confirms that the proposed robot mechanism is applicable for minimally invasive surgery applications.

Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

2015 ◽  
Vol 762 ◽  
pp. 305-311
Author(s):  
Mihai Crenganis ◽  
Octavian Bologa
Keyword(s):  
Fuzzy Logic ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Cad Model ◽  
Redundancy Resolution ◽  
The Real ◽  
Kinematics Simulation ◽  
Inverse Kinematics Problem ◽  
Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot

2021 ◽  
Vol 33 (1) ◽  
pp. 141-150
Author(s):  
Takashi Kei Saito ◽  
Kento Onodera ◽  
Riku Seino ◽  
Takashi Okawa ◽  
Yasushi Saito ◽  
...  
Keyword(s):  
Mechanical Stress ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Structural Problems ◽  
Type K ◽  
Spatial Parallel Mechanism ◽  
Expansion Range ◽  
Class Power ◽  
Linear Actuators ◽  
Three Degrees Of Freedom

We designed a new telescopic manipulator that uses a clustered elastic convex tape. The manipulator has an ultra-wide expansion range and toughness against mechanical stress. Compared to conventional linear actuators, our convex-type manipulators have high extension range and are very lightweight. Moreover, they are compact when rolled up. The telescopic manipulators designed in the previous study had insufficient output due to structural problems and were unstable. In this study, we report a Type-K telescopic manipulator mechanism (Makijaku-Ude Type-K), which is a redesigned manipulator that can be easily used with a 300-N class power, and applied the mechanism to a three degrees-of-freedom spatial parallel-mechanism robot.

Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models

2014 ◽  
Vol 657 ◽  
pp. 823-828
Author(s):  
Mihai Crenganis ◽  
Radu Eugen Breaz ◽  
Sever Gabriel Racz ◽  
Octavian Bologa
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Cad Model ◽  
The Real ◽  
Kinematics Simulation ◽  
Inverse Kinematics Problem ◽  
Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

scholarly journals Some aspects of topology and kinematics of a 3DOF translational parallel mechanism

2014 ◽  
Vol 19 (1) ◽  
pp. 5-15 ◽  
Author(s):  
J. Bałchanowski
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Analytical Procedure ◽  
Method Of Determination ◽  
Fixed Orientation ◽  
Three Degrees Of Freedom ◽  
Selection Of

Abstract The paper presents elements of the topology, geometry and the kinematic analysis of a translational parallel mechanism with three degrees of freedom. In such mechanisms the selection of a proper structure and geometry ensures that the driven link maintains a fixed orientation relative to the base. The method of determination of the configuration of mechanisms using contour vector notation was elaborated in the paper. The equations for the analysis of the direct and inverse kinematics task are determined. An analytical procedure for determining the system’s singular positions is presented and illustrated with examples

Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Louis-Thomas Schreiber ◽  
Clément Gosselin
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Redundancy ◽  
Spatial Parallel Mechanism ◽  
Compressive Loads ◽  
Moving Platform

This paper presents methods to exploit the redundancy of a kinematically redundant spatial parallel mechanism with three redundant DOFs. The architecture of the mechanism is similar to the well-known Gough–Stewart (GS) platform and it retains its advantages, i.e., the members connecting the base to the moving platform are only subjected to tensile/compressive loads. The kinematic redundancy is exploited to avoid singularities and extend the rotational workspace. The architecture is described and the associated kinematic relationships are presented. Solutions for the inverse kinematics are given, as well as strategies to take into account the limitations of the mechanism such as mechanical interferences and velocity limits of the actuators while controlling the redundant degrees-of-freedom.

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