A new method to solve robot inverse kinematics using Assur virtual chains

Simas, Henrique; Guenther, Raul; da, Cruz, Daniel, Fontan, Maia,; Martins, Daniel

doi:10.1017/s0263574709005426

Cited by 19 publications

(19 citation statements)

References 11 publications

(16 reference statements)

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In the velocity analysis, we will apply the Davies method [5,16] to this new type of parallel manipulator 2 . This method is a systematic way to relate the joint velocities in…”

Section: Velocity Analysis Of the New 3-dof Parallel Manipulatormentioning

confidence: 99%

“…We have, Section 5.1 presents a numerical example of the velocity analysis of the new variable-configuration parallel manipulator with self-aligning shown in Fig. 3 applying the Davies method [5,16]. Figure 7a shows a schematic representation of the variable-configuration parallel manipulator with self-aligning in a certain configuration and Fig.…”

Section: Velocity Analysis Of the New 3-dof Parallel Manipulatormentioning

confidence: 99%

See 1 more Smart Citation

Triflex: variable-configuration parallel manipulators with self-aligning

Simoni

Simas

Martins

2014

J Braz. Soc. Mech. Sci. Eng.

View full text Add to dashboard Cite

parallel robot imposes constraints on the moving platform to apply the degrees-of-freedom specified in the design of the robot. Without a change in the design of the robot, it is not possible to change its geometry before or during the execution of a task. Due to the closed-loop kinematic chain, in general, parallel robots require high manufacturing precision because any misalignment in the joint axes can cause internal overconstraints which are harmful to the robot.A characteristic of the new class of variable-configuration parallel manipulator proposed in this paper is that its form can be changed without changing the degrees-of-freedom and the characteristics of the motion of the moving platform. The change in the configuration of this new class of parallel manipulator is managed by additional degreesof-freedom called degrees-of-freedom of self-aligning. These additional degrees-of-freedom of self-aligning are passive/nulls, they permit a change in the configuration before starting the task execution but during the task execution they do not have any influence, i.e. their velocities are nulls.As an initial study on this new class of parallel manipulators, we address a change in the geometry of the base of the parallel manipulator. The geometry of the base of this parallel manipulator can change completely depending on the shape of the floor and this change is managed by degrees-of-freedom of self-aligning. These degrees-of-freedom of self-aligning give additional degrees-of-freedom to the kinematic chain of the parallel manipulator and they do not interfere in the motion of the moving platform. However, they give dexterity to the legs of the parallel manipulator when the base changes its geometry. This type of parallel manipulator can operate in confined environments where stiffness, accuracy and force are necessary and the change of the robot geometry permits dexterity and agility so that the parallel manipulator can adapt to different Abstract This paper presents a new class of parallel manipulators called variable-configuration parallel manipulators with self-aligning. These parallel manipulators can change their form to carry out different tasks in different places, this change being managed by additional degrees-of-freedom of self-aligning. These degrees-of-freedom of self-aligning do not interfere in the motion of the moving platform, they are passive/null degrees-of-freedom that only permit changes in the form of the parallel manipulator. As an example, we present a new 3-DOF translational variable-configuration parallel manipulator with self-aligning. We develop the mobility analysis, the workspace volume analysis, the position analysis and the velocity analysis of this new 3-DOF parallel manipulator.

show abstract

“…In the velocity analysis, we will apply the Davies method [5,16] to this new type of parallel manipulator 2 . This method is a systematic way to relate the joint velocities in…”

Section: Velocity Analysis Of the New 3-dof Parallel Manipulatormentioning

confidence: 99%

Section: Velocity Analysis Of the New 3-dof Parallel Manipulatormentioning

confidence: 99%

Triflex: variable-configuration parallel manipulators with self-aligning

Simoni

Simas

Martins

2014

J Braz. Soc. Mech. Sci. Eng.

View full text Add to dashboard Cite

show abstract

“…Глобальная компьютеризация предопре-делила доминирующее положение аналитиче-ских методов исследования механизмов [1][2][3][4][5][6][7][8][9][10]. В результате этого кинетостатический анализ механизмов с помощью пакетов прикладных программ является важной частью научной и практической деятельности инженеров и кон-структоров.…”

Section: Introductionunclassified

Program realization of mathematical model of kinetostatical calculation of flat lever mechanisms

Vasechkin¹,

Matveeva²,

Sidorenko³

et al. 2016

Vestn. Voronež. gos. univ. inž. tehnol.

View full text Add to dashboard Cite

“…The main disadvantages of using parallel robots are: workspace limitation, more complex forward kinematics maps and more involved singularity analysis (Wen and O'Brien, 2003;O'Brien et al, 2006;Simas et al, 2009). For instance, in contrast to serial chain manipulators, the singularities in parallel mechanisms may have different characteristics.…”

Section: Introductionmentioning

confidence: 99%

“…Advanced motion and force control of cooperative robotics manipulators with passive joint are considered in (Tinos et al, 2006;Pazelli et al, 2011). A screw-based systematic method to derive the relative Jacobian for two cooperating robots is developed in the recently published work (Ribeiro et al, 2008;Simas et al, 2009). …”

Section: Introductionmentioning

confidence: 99%

Kinematic control of constrained robotic systems

Freitas

Leite

Lizarralde

2011

Sba Controle & Automação

View full text Add to dashboard Cite

RESUMO Controle de Sistemas Robóticos com Restrições CinemáticasEste artigo considera o problema de controle de postura para sistemas robóticos com restrições cinemáti-cas. A ideia principal é considerar as restrições cinemáticas dos mecanismos a partir de suas equações estruturais, ao invés de usar explicitamente a equação de restrição. Um estudo de caso para robôs paralelos e robôs cooperativos é discutido baseado nos conceitos de cinemática direta, cinemática diferencial, singularidades e controle cinemático. Resultados de simulação, obtidos a partir de um mecanismo F our-Bar linkage, uma plataforma de Gough-Stewart planar e dois robôs cooperativos, ilustram a aplicabilidade e versatilidade da metodologia proposta.PALAVRAS-CHAVE: robôs paralelos, robôs redundantes, coordenação multi-rôbos, singularidades cinemáticas . ABSTRACTThis paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the applicability and versatility of the proposed methodology.

show abstract

A new method to solve robot inverse kinematics using Assur virtual chains

Cited by 19 publications

References 11 publications

Triflex: variable-configuration parallel manipulators with self-aligning

Triflex: variable-configuration parallel manipulators with self-aligning

Program realization of mathematical model of kinetostatical calculation of flat lever mechanisms

Kinematic control of constrained robotic systems

Contact Info

Product

Resources

About