Command and Control System of a Planar Parallel Robot for PCB Processing Operations

Anostolescu, Tudor Catalin; Cartal, Laurentiu Adrian; Udrea, Ioana; Ionașcu, Georgeta; Bogatu, Lucian

doi:10.1109/ecai54874.2022.9847422

Cited by 1 publication

(1 citation statement)

References 7 publications

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“…This paper proposes a solution that preserves the advantages of parallel robots while reducing the complexity of kinematic equations by a vector analysis. The presented algorithm offers two alternatives: the traditional one, which requires knowledge of the orientation phi of the end-effector and is used in various applications as pick and place [37,38], or medical rehabilitation [39,40]. There is also an alternative that eliminates the need to know this orientation, using instead an optimization method, useful in monitoring applications like conventional or thermal cameras [41].…”

Section: Discussionmentioning

confidence: 99%

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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Existing direct and inverse kinematic models of planar parallel robots assume that the robot’s active joints are all at the bases. However, this approach becomes excessively complex when modeling a planar parallel robot in which the active joints are within one single kinematic chain. To address this problem, our article unveils an alternative for a 3RRR symmetric planar robot modeling technique for the derivation of the robot workspace and the analysis of its direct and inverse kinematics. The workspace was defined using a system of inequalities, and the direct and inverse kinematics models were generated using vectorial analysis and an optimized geometrical approach, respectively. The resulting models are systematically presented and validated. Two final model renditions are delivered supplying a thorough equation analysis and an applicability discussion based on the importance of the robot’s mobile platform orientation. The advantages of this model are discussed in comparison to the traditional modeling approach: whereas conventional techniques require the solution of complex eighth-degree polynomials for the analysis of the active joint configuration of these robots, these models provide an efficient back-of-the-envelope analysis approach that requires the solution of a simple second-degree polynomial.

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