In this paper, new method for structural synthesis of Euclidean platform robot manipulators with variable general constraints (EPRM) is presented. Three dimensional motion of the base moving platform is generated by the motion of dyads on the Euclidean planes. Each dyad is connected to the moving base platform by universal, spherical or spherical in torus (S t ) kinematic pairs. This allows solving the structural synthesis of Euclidean robot manipulators with various DoF and different platform motions. New structural formulations with variable general constraints for the platform motion and the mobility of robot manipulators are presented. The new structural classification of simple structural groups with variable general constraints including platforms, hinges, legs and branch loops from different subspaces and space is also introduced. Moreover, new method for structural synthesis of serial, parallel and serial-parallel EPRM is illustrated along with examples.
In this paper, approximate motion synthesis of spherical linkages is presented. Rigid body guidance of a spherical four-bar mechanism is performed by a spherical RR open chain. In the first step, position of a point on rigid body and orientation of a rigid body on a unit sphere are described. Synthesizing function of spherical dyad is derived by means of using unit vectors that describe location of two revolute joints and tip point. Being based on the theory of function approximation and besides the linearization of nonlinear synthesis equations by using superposition method, the design procedure for real solutions of fourth order polynomial equation is developed. In the second step, approximate motion generation synthesis of spherical dyad is presented by using least-square approximation. Chebyshev spacing and equal spacing are used in the determination of poses. In the final step, two numerical examples are given to show how error graph is varied in terms of selected poses. The spherical motion generation synthesis of spherical four-bar mechanism is obtained by the combination of the two real solutions of the synthesis of two spherical dyads.
Delta robot is used in many applications in daily life, such as industrial processes or household activities. All these applications are needed point to point movements. To provide the reposition, inverse kinematic of delta robot needs to be solved in the control and design algorithm. General form of the inverse kinematic of Delta robot uses Cartesian coordinates. In this paper, a new approach for linear delta robot using cylindrical coordinates instead of Cartesian coordinates is explained. The linear delta robot has been constructed to compare our method with Cartesian approach. In order to verify the path of the end effector motion capture system is used. The acquired data has been evaluated in Matlab.Index Terms-Delta parallel robot, inverse kinematic, matlab, motion capture system.
I. INTRODUCTIONA delta parallel manipulator is able to generate three transitional motions in space. This manipulator was constructed by Reymond Clavel and his team in 1990 [1]. This type delta manipulator has three rotational actuators fixed on the base of the manipulator. Platform of the manipulator is moved by using three identical parallelogram limbs.Another type of delta parallel manipulator is actuated by three linear motion (prismatic joints) instead of rotational joints. The linear motion is achieved through belt drive systems or rotational motors attached to lead screws. Recently, this type of delta robot is extensively used for 3-D printers (such as Atom 2, Kossel etc), coordinate measuring machine (Renishaw equator) and pick&place (Adept Robot, ABB etc.) applications.A quite old research about Delta robot was published by Periot et al. [2]. This Delta robot had three revolute actuators which are fixed to the base platform. Inverse kinematics of Delta robot was one section of their studies. They solved inverse problem using Cartesian approach.Kinematic analysis of delta parallel manipulator was investigated by academic community in various fields such as computer, mechanical and mechatronics engineering. Inverse and forward kinematics of delta parallel manipulator driven by both prismatic and rotational actuators is represented by R.L. Williams [3]. All structural examples for delta type manipulators are illustrated in his study.Inverse kinematic Analysis of the delta robot with three revolute actuators and three prismatic actuators was investigated for design purpose in some researches [4], [5]
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