Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator

2013 ◽  
Vol 313-314 ◽  
pp. 937-940 ◽  
Author(s):  
Yong Guo Zhao ◽  
Yong Fei Xiao ◽  
Tie Chen
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Forward Kinematics ◽  
Kinematics Analysis

In order to meet theneeds of high-speedpalletizing inlogistics automation industry, a 4 d4-DOF palletizingrobot manipulatorwas designed. Inthis paper,focusing on kinematic analysis, forward kinematics modeland inverse kinematics were introduced in detail.

Design and Kinematic Analysis of a Novel Machine Tool With Four Rotational Axes and One Translational Axis

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Song Gao ◽  
Jihong Chen ◽  
Shusheng Liu ◽  
Xiukun Yuan ◽  
Pengcheng Hu ◽  
...  
Keyword(s):  
Machine Tool ◽  
Kinematic Analysis ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Rotary Axes ◽  
Machining Quality ◽  
New Type ◽  
Kinematic Performance ◽  
Five Axis

Abstract Due to their superior machining quality, efficiency, and availability, five-axis machine tools are important for the manufacturing of complicated parts of freeform surfaces. In this study, a new type of the five-axis machine tool was designed that is composed of four rotary axes as well as one translational axis. Given the structure of the proposed machine tool, an inverse kinematics analysis was conducted analytically, and a set of methods was then proposed to address the issues in the kinematic analysis, e.g., the singularity and multi-solution problems. Compared with traditional five-axis machine tools, which are typically composed of three linear axes and two rotary axes, the proposed machine tool exhibited better kinematic performance with machining parts with hub features, such as impellers, which was validated by simulations and real cuttings.

Kinematics Analysis of a Hot-Line Live Working Manipulator

2014 ◽  
Vol 610 ◽  
pp. 28-34 ◽  
Author(s):  
Xiao Lin Ma ◽  
Hui Chai ◽  
Yun Jiang Li
Keyword(s):  
Analytical Solutions ◽  
Inverse Kinematics ◽  
Transformation Method ◽  
Forward Kinematics ◽  
Euler Angles ◽  
Kinematics Analysis ◽  
Hydraulic Actuator ◽  
End Effector

This paper introduces the development of hot-line live working manipulators and gives a new configuration manipulator driven by hydraulic actuator firstly. Then, its forward kinematics equations are derived with homogenous transformation method. Finally, the analytical solutions of its inverse kinematics are solved under the condition that the posture of the end-effector is known and given with z-y-z Euler angles.

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.

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

2006 ◽  
Vol 129 (8) ◽  
pp. 793-798 ◽  
Author(s):  
Shi Zhi Xin ◽  
Luo Yu Feng ◽  
Hang Lu Bing ◽  
Yang Ting Li
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Forward Kinematics ◽  
The Real ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

Kinematic Analysis and Digital Mock-up Based Hybrid Verification about the Industrial Robot with Symmetric Dual Planar Four-Bar Mechanism

2012 ◽  
Vol 251 ◽  
pp. 191-195
Author(s):  
Xiao Xi Chen ◽  
Ping He ◽  
Liu Han
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Industrial Robot ◽  
Forward Kinematics ◽  
Kinematic Modeling ◽  
Inverse Kinematics Problem

In this paper, the context of relative kinematic modeling, and the analysis of symmetric dual four-bar mechanism industrial robot are introduced. For such mechanism, its designation of the representative algorithm, and its simplification, simulation, verification and alternately analysis in Forward Kinematics Problems (FKP) and Inverse Kinematics Problem (IKP) were studied. Via such method, it’s possible to efficiently analyze and solve the both of FKP and IKP of symmetric dual planar four-bar mechanism. Thus this method can be applied for the design, simulation and verification for the robot with similar structure.

Fundamental Exercises in Mechanical Systems Engineering Using Robot Manipulator

2011 ◽  
Author(s):  
Hideaki Takanobu
Keyword(s):  
Mechanical System ◽  
Linear Algebra ◽  
Systems Engineering ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Engineering Students ◽  
Robot Manipulator ◽  
Mechanical Systems ◽  
Forward Kinematics ◽  
Basic Learning

A five degrees-of-freedom (5-DOF) robot manipulator is used for the basic learning of mechanical system engineering. Students learned the forward kinematics as concrete applications of the mathematics, especially linear algebra. After making a manipulator, baton relay contest was done to understand the inverse kinematics by controlling the manipulator using a manual controller having five levers.

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.

scholarly journals Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 31
Author(s):  
Alexey Fomin ◽  
Anton Antonov ◽  
Victor Glazunov ◽  
Yuri Rodionov
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Forward Kinematics ◽  
Rotational Angle ◽  
End Effector ◽  
Kinematic Chains ◽  
Position And Orientation ◽  
Manipulator Design ◽  
Forward Kinematic

The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

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