Inverse Kinematics and Dynamics of an Overconstrained Manipulator for Upper Extremity Rehabilitation

Selvi, Özgün; Yilmaz, K.

doi:10.1007/978-3-319-45450-4_44

Cited by 1 publication

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References 5 publications

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“…They also prompted a universal method for those two kinds based on the screw theory. Dynamic analysis of a 5 DoF overconstrained manipulator is done with the decomposition of the partial subspaces is described in the work of Selvi and Yilmaz [22].…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

Selvi

2021

Robotica

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SUMMARY Overconstrained manipulators in lower subspaces with unique motions can be created and analyzed. However, far too little attention has been paid to creating a generic method for overconstrained manipulators kinematic analysis. This study aimed to evaluate a generic methodology for kinematic analysis of overconstrained parallel manipulators with partial subspaces (OPM-PS) using decomposition to parallel manipulators (PMs) in lower subspaces. The theoretical dimensions of the method are depicted, and the use of partial subspace for overconstrained manipulators is portrayed. The methodology for the decomposition method is described and exemplified by designing and evaluating the method to two overconstrained manipulators with 5 degrees of freedom (DoF) and 3 DoF. The inverse kinematic analysis is detailed with position analysis and Jacobian along with the inverse velocity analysis. The workspace analysis for the manipulators using the methodology is elaborated with numerical results. The results of the study show that OPM-PS can be decomposed into PMs with lower subspace numbers. As imaginary joints are being utilized in the proposed methodology, it will create additional data to consider in the design process of the manipulators. Thus, it becomes more beneficial in design scenarios that include workspace as an objective.

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Section: Introductionmentioning

confidence: 99%

Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

Selvi

2021

Robotica

View full text Add to dashboard Cite

show abstract

Inverse Kinematics and Dynamics of an Overconstrained Manipulator for Upper Extremity Rehabilitation

Cited by 1 publication

References 5 publications

Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

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