Kinematics analyses of Dodekapod

In order to obtain direct solutions of parallel manipulator without divergence in real time, a modified global Newton-Raphson (MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom (DOF) parallel manipulator. Based on geometrical frame of parallel manipulator, the highly nonlinear equations of kinematics were derived using analytical approach. The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration. The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio .NET for implementation. The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed. Applying the MGNR algorithm, the real generalized pose of moving platform is solved by using the set of given positions of actuators. The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy (1×10 −9 m in linear motion and 1×10 −9 rad in angular motion), even the initial guess value is far from the root.

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“…Define that c is position vector, c=[q 1 , q 2 , q 3 ] T , and β is rotation Euler angle vector, β=[q 4 …”

Section: Forward Kinematics Under Mgnrmentioning

confidence: 99%

“…Kinematics of parallel manipulator can be largely divided into two categories, inverse kinematics and forward kinematics [4]. The inverse kinematics is easily realized using closed-form solution [5].…”

Section: Introductionmentioning

confidence: 99%

Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

Yang

Zheng

Jin

et al. 2010

J. Cent. South Univ. Technol.

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“…Therefore they are also known as reconfigurable manipulators 2 of SG type. In [8] a design is suggested, which has six redundant dofs (3 in the platform and 3 in the base). The weak points of this so-called dodekapod are that on the one hand additional mass/inertia (motor of active joints) is added to the platform and that on the other hand passive prismatic joints are used, which are difficult to implement in practice (cf.…”

Section: Introductionmentioning

confidence: 99%

Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations

Nawratil

Rasoulzadeh

2018

New Advances in Mechanism and Machine Science

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We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving feedback to the human body. For this purpose we modify the well-known octahedral manipulator in a way that it has one degree of kinematical redundancy; namely an equiform reconfigurability of the base. The instantaneous kinematics and singularities of this mechanism are studied, where especially "unavoidable singularities" are characterized. These are poses of the motion platform, which can only be realized by singular configurations of the mechanism despite its kinematic redundancy.

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“…The modular design consists of a set of standardized modules which can be connected and disconnected in order to obtain different configurations (Xi et al, 2011;Yu et al, 2012;Plitea et al, 2013;Carbonari et al, 2014). On the other hand, in a variable geometry approach the dimensions of the geometric parameters of the robot are modified to achieve new configurations (Zhang and Shi, 2012;Bande et al, 2005;du Plessis and Snyman, 2006;Kumar et al, 2009;Borrás et al, 2009;Chen, 2012;Ye, 2014). The variable geometry approach is more used than the modular design because it offers the advantage of easy implementation during the operation of the robot.…”

Section: Introductionmentioning

confidence: 99%

An Application of Screw Theory for the Identification of Singularities in a Novel Reconfigurable Parallel Robot

Sánchez-Alonso¹

2016

Nexo Revista Científica

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This paper reports the application of the screw theory as a tool for the determination of the singular configurations of a reconfigurable parallel robot composed of two parallel sub-manipulators. The Jacobian matrices of the robot, key elements for the identification of singularities, are easily determined when the input-output equation of velocity of the robot is obtained by the application of some screw theory basic operations. Through this application, the inverse, direct and combined singularities are clearly identified, and their graphical representations can be obtained almost intuitively.

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Kinematics analyses of Dodekapod

Cited by 26 publications

References 8 publications

Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations

An Application of Screw Theory for the Identification of Singularities in a Novel Reconfigurable Parallel Robot

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