Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs

Fu, Jianxun; Gao, Feng; Pan, Yang; Du, Hui

doi:10.1177/1687814015582118

Cited by 16 publications

(8 citation statements)

References 29 publications

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“…(2), by substitution of the points p and qi, the forward kinematic problem can be formulated as in the following equations: Eqs. (3)(4)(5)(6) are the polynomial solution for the forward kinematics problem of this robot with at most two real solutions; the Cartesian positions of the moving platform are shown in Table 1 In this project, as shown in Fig. 3, the workspace of the TLPM robot is defined as a region of the three dimensional space generated by the three prismatic joints in the FCS frame.…”

Section: Forward Position Analysismentioning

confidence: 99%

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Kinematic Performances of a Novel TLPM Parallel Robot

Gao

2016

MATEC Web of Conferences

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Abstract. This paper investigates the kinematic performances of kinematics, Jacobian, singularity and interferences of a novel six-degree-of freedom (DOF) parallel manipulator. Analytical solutions of the forward position kinematics have been worked out. Three-dimensional Cartesian space generated by a stroke interval from lmin to lmax fulfils the point workspace are illustrated, and the reachable workspaces are obtained. The notion of pure translational Jacobian of constraint matrix is introduced, and two types of conventional singularities are analyzed. Finally, auxiliary vectors are introduced to determine the link interferences, shown that there are two kinds of interferences in the system, one is angle-interference in one limb, and the other is distance-interference in adjacent limbs.

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Section: Forward Position Analysismentioning

confidence: 99%

“…Certain parallel mechanisms have shown to offer many advantages over serial mechanisms, such as high stiffness, large payload capacity, compact structure, low inertia, high accuracy, etc [2]. Recently a large number of PMs have been built and several distinctive designs and analysis approaches have been introduced [3,4,5].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Performances of a Novel TLPM Parallel Robot

Gao

2016

MATEC Web of Conferences

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“…Li and Xu [7] adopted the Newton iterative method to solve the forward position kinematics of the 3-PRS parallel manipulator. Fu et al [8] studied the polynomial solutions of the forward kinematics problem, converted it into a first-degree polynomial equation and an eight-degree polynomial equation, and verified the effectiveness and correctness of the proposed algorithm. Joshi and Tsai [9] proposed a methodology for solving the forward kinematics of a class of 3-DOF, 4-legged parallel manipulators in closed form and demonstrated the algorithm with the Tricept manipulator that has at most twenty-four real solutions.…”

Section: Introductionmentioning

confidence: 98%

Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator

Zhang

Fang

Zhang

et al. 2019

International Journal of Aerospace Engineering

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This paper presents a novel redundantly actuated 2RPU-2SPR parallel manipulator that can be employed to form a five-axis hybrid kinematic machine tool for large heterogeneous complex structural component machining in aerospace field. On the contrary to series manipulators, the parallel manipulator has the potential merits of high stiffness, high speed, excellent dynamic performance, and complicated surface processing capability. First, by resorting to the screw theory, the degree of freedom of the proposed parallel manipulator is briefly addressed with general configuration and verified by Grübler-Kutzbach (G-K) criteria as well. Next, the inverse kinematics solution for such manipulator is deduced in detail; however, the forward kinematics is mathematically intractable. To deal with such problem, the forward kinematics is solved by means of three back propagation (BP) neural network optimization strategies. The remarkable simulation results of the parallel manipulator demonstrate that the BP neural network with position compensation is an appropriate method for solving the forward kinematics because of its various advantages, such as high efficiency and high convergence ratios. Simultaneously, workspaces, including joint space and workspace of the proposed parallel manipulator, are graphically depicted based on the previous research, which illustrate that the proposed manipulator is a good candidate for engineering practical application.

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“…31–34 Furthermore, some works investigated the forward kinematics problem, which entails determination of the position and orientation of a mobile platform for a set of given limb lengths or actuator displacements. 35–37 Generally, the forward kinematics problem of parallel mechanisms is more complicated than their inverse kinematics problem. This is in contrast to the case of serial-chain manipulators.…”

Section: Introductionmentioning

confidence: 99%

Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints

Han

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a novel six-degree-of-freedom (6-DOF) parallel platform that is used as the third mirror adjustment system of a large space telescope. In order to meet the design requirements of high precision, a large load–size ratio, and high stiffness in both the transverse and the vertical directions, the parallel platform is designed to be a 6-P-RR-R-RR structure via use of offset RR-joints. The inverse kinematics problem of the designed platform with offset RR-joints is much more complicated than that of a parallel platform with common universal joints owing to the presence of joint-dependent variables in the former problem. In this study, inverse kinematics of the designed parallel platform is mathematically modeled and the Newton–Raphson numerical iterative computation is performed. The accuracy and effectiveness of the proposed mathematical approach are verified by numerical co-simulations using MATLAB and ADAMS. The initial position of the platform is determined by a precision measuring arm. A test system is constructed, and then inverse kinematics solution, resolutions and adjusting steps accuracies of the platform are tested using grating length gauges. Motion strokes of the parallel mechanism are measured using laser tracker.

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Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs

Cited by 16 publications

References 29 publications

Kinematic Performances of a Novel TLPM Parallel Robot

Kinematic Performances of a Novel TLPM Parallel Robot

Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator

Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints

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