Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory

Gallardo-Alvarado, Jaime; Rodríguez-Castro, Ramón; Pérez-González, L.; Aguilar-Nájera, C. R.

doi:10.3390/robotics7020029

Cited by 4 publications

(2 citation statements)

References 38 publications

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“…where 𝛼 = 𝜃 1 + 𝜃 2 + 𝜃 3 = 30°+ 30°+ 30°= 90° and chosen that (𝑣 𝑥 , 𝑣 𝑦 , 𝑣 𝑧 ) = (1,0,0), is shows that the initial position of the robot is in (1,0,0), respectively in 3D Cartesian coordinate, after the rotation 𝜃 1 , 𝜃 2 , 𝜃 3 , based on (7), the rotation component of end effector in this case is (0,1,0). Metode quaternion that used in this analyze is to find the rotation component of end effector, in this case, depend on the 𝜃 1 , 𝜃…”

Section: Case Applicationmentioning

confidence: 99%

Rotation Component of Robotic Manipulator Motion in 4-Dof by the Quaternion Method

Yasmini,

Isna,

Risha

2024

IPR

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Most of the study of robots is about the system. Because of that, we analyze the motion of the robot by using rigid body motion concepts. This study aims to analyze the rotation components of a robotic manipulator with four degrees of freedom (4-DoF) by using the quaternion method of manual analysis so that the end effector of the robotic manipulator under study is obtained. The research is theoretical and was conducted through a review and analysis of related literature. Based on the literature review, the robotic manipulator is a robot with a shape resembling an arm. The robotic manipulator consists of bases, links, joins, and an end effector. In terms of physics, the kinematics of robot motion can be studied based on the concept of rigid body motion. The research shows that the quaternion method can be used to determine the end effector of the rotation component of the robotic manipulator, and the steps are shorter than analyses by using screw and twist theory. Based on this case, the end effector of the rotation component depends on the initial state and the total rotation angle of each join.

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Section: Case Applicationmentioning

confidence: 99%

Rotation Component of Robotic Manipulator Motion in 4-Dof by the Quaternion Method

Yasmini,

Isna,

Risha

2024

IPR

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“…With the purpose to obtain the Jacobian matrices of the parallel manipulator, in this section the velocity analysis of it is addressed by resorting to the screws theory [27]. Velocity modeling requieres to formulate a specific linear map between two vector spaces at a given configuration, i.e., velocity modeling involves the linear map between the velocity state, or twist about a screw, and the actuator rates [28]. In this contribution, the Jacobians of the parallel manipulator emerge combining the theory of screws and the formalities of linear algebra, without doubt an elegant union.…”

Section: Jacobian Matrices Of the Parallel Manipulatormentioning

confidence: 99%

Forward Kinematics and Singularity Analyses of an Uncoupled Parallel Manipulator by Algebraic Screw Theory

et al. 2022

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In this contribution, the Jacobian analysis of a four-legged six-degrees-of-freedom decoupled parallel manipulator is carried out through the screw theory. As an intermediate step, for the sake of completeness the inverse/forward displacement analysis as well as the computation of the workspace of the robot are achieved by taking advantage of the decoupled orientation and position of the moving platform. Afterward, the input/output equation of velocity of the parallel robot is obtained by harnessing of the properties of reciprocal screw systems. Once the Jacobian matrices are identified and investigated, the analysis of singularities for the robot manipulator emerges as a natural application of the Jacobian analysis. Numerical examples are included with the purpose to show the practicality and versatility of the method of kinematic analysis. Furthermore, the numerical results obtained by means of the theory of screws are successfully verified with the aid of commercially available software like ADAMS.INDEX TERMS Kinematics, Parallel robot, Screw theory, Singular posture, Uncoupled kinematics.

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Finding Optimal Placement of the Almost Spherical Parallel Mechanism in the Recupera-Reha Lower Extremity Exoskeleton for Enhanced Workspace

Tijjani

2022

Advances in Service and Industrial Robotics

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Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory

Cited by 4 publications

References 38 publications

Rotation Component of Robotic Manipulator Motion in 4-Dof by the Quaternion Method

Rotation Component of Robotic Manipulator Motion in 4-Dof by the Quaternion Method

Forward Kinematics and Singularity Analyses of an Uncoupled Parallel Manipulator by Algebraic Screw Theory

Finding Optimal Placement of the Almost Spherical Parallel Mechanism in the Recupera-Reha Lower Extremity Exoskeleton for Enhanced Workspace

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