Improved inverse kinematics and dynamics model research of general parallel mechanisms

Zhang, Xingchao; Wang, Hongbo; Yu, Ronghai; Niu, Jianye; Tian, Junjie; Li, Shanshan; Ning, Yuansheng

doi:10.1007/s12206-023-0134-1

Cited by 5 publications

(2 citation statements)

References 25 publications

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“…The most common method for solving the motion inverse solution of the mechanism is to use the rod length formula and coordinate changes. Regarding this aspect, this article will no longer analyze [18][19][20][21].…”

Section: Position Inverse Solutionmentioning

confidence: 99%

A New Theoretical Method for Solving Forward Kinematics of the Parallel Mechanisms Based on Transfer Matrix

Wang,

Jing,

Guo

et al. 2024

International Journal of Aerospace Engineering

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The flexible parallel mechanism is widely utilized in precision instruments, thanks to its numerous advantages, such as high precision, frictionless operation, and seamless movements. The establishment of the motion equations for this mechanism is crucial for designing, analyzing, controlling, and simulating parallel mechanisms. While the existing inverse kinematics solution theory is comprehensive, developing a forward solution model is challenging due to the nonlinear nature of the attitude equation. To address this issue, a new method based on the transfer matrix approach is proposed in this research to calculate the forward kinematics of parallel mechanisms. The proposed method is applied to analyze the forward kinematics and workspace of both planar and spatial flexible mechanisms. Simulation calculations and experiments are conducted to verify the method’s effectiveness. The results demonstrate that the error is approximately 2%, indicating the feasibility and accuracy of the calculation method.

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Section: Position Inverse Solutionmentioning

confidence: 99%

A New Theoretical Method for Solving Forward Kinematics of the Parallel Mechanisms Based on Transfer Matrix

Wang,

Jing,

Guo

et al. 2024

International Journal of Aerospace Engineering

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“…20 Paden-Kahan is a geometric approach to the inverse kinematics of a manipulator that is efficient and ready to model but is limited by the manipulator not having enough intersecting joints. The earlier studies [21][22][23][24] created novel Paden-Kahan subproblems according to the nonintersecting joints of the specific manipulator in obtaining the inverse solution and provided the solution process. Chen and Gao 25 proposed an equivalent motion technique, which transformed the kinematic equation of the manipulator into the standard form by replacing the sequential of the kinematic pair, and solved it with classical Paden-Kahan subproblems.…”

Section: Introductionmentioning

confidence: 99%

An explicit solution of forward and inverse kinematics for a serial manipulator with insufficient intersection joints based on finite and instantaneous screw theory

Qi,

Zhang,

Ren

et al. 2024

International Journal of Advanced Robotic Systems

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To satisfy the requirements of large workspace, high capability, and low inertia demanded by the high precision and high stiffness aerospace equipment, serial manipulator with insufficient intersection joints is proposed in this article based on finite and instantaneous screw theory. Due to the specific topology structure with no intersecting joints at both ends, the explicit solution of forward and inverse kinematics for the serial manipulator with insufficient intersection joints proposed in this article is extremely difficult. Therefore, an analytical method based on finite and instantaneous screw theory is proposed for this serial manipulator, and the explicit kinematic solution is derived in this article. According to particular calculation principle of finite and instantaneous screw theory, the finite motion of this serial manipulator is described. Based on this description, the product of exponentials formula of the kinematics of the serial manipulator with insufficient intersection joints is established on the basic of finite and instantaneous screw theory for the first time, and a novel subproblem is arose during the decomposition of product of exponentials formula. Regarding this issue, an innovative approach to this subproblem is proposed by introducing the new Paden–Kahan subproblem with elimination, and the explicit solution for the inverse kinematics is derived. Finally, the numerical examples are simulated, and the correctness of the method proposed in this article is verified.

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Dynamic modeling and energy demand analysis of chain heavy load transfer system on marine mobile platform

Ma,

Xu,

Rui

et al. 2024

Energy Sources, Part A: Recovery, Utilization, and Environmenta

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Improved inverse kinematics and dynamics model research of general parallel mechanisms

Cited by 5 publications

References 25 publications

A New Theoretical Method for Solving Forward Kinematics of the Parallel Mechanisms Based on Transfer Matrix

A New Theoretical Method for Solving Forward Kinematics of the Parallel Mechanisms Based on Transfer Matrix

An explicit solution of forward and inverse kinematics for a serial manipulator with insufficient intersection joints based on finite and instantaneous screw theory

Dynamic modeling and energy demand analysis of chain heavy load transfer system on marine mobile platform

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