Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles

Schappler, Moritz; Tappe, Svenja; Ortmaier, Tobias

doi:10.3390/robotics8030068

Cited by 14 publications

(26 citation statements)

References 33 publications

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“…Figure 2 presents a general view of the operating platform. The operating platform consists of four elements connected with the use of rotating joints: two main parts (1,2) and two connectors (3,4). Such a construction of the operating platform provides an additional fourth degree of freedom-platform rotation around the vertical axis of the robot.…”

Section: Solid Model Of Delta 4-dof Manipulatormentioning

confidence: 99%

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Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

Łaski¹,

Smykowski²

2021

Sensors

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This article presents a construction prototype of a delta 4-DoF (Degree of Freedom) parallel robot. The structure of kinematic chain was described and the problem of inverse kinematic was formulated and solved. The author also proposed a concept of a control system. The dynamics of the control object were specified, a decision upon the controller and its settings was made, as well as simulation control studies of manipulator drive were conducted. The article contains a description of prepared applications and procedures as well as the research results of the manipulator.

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Section: Solid Model Of Delta 4-dof Manipulatormentioning

confidence: 99%

“…Recently, there has been a significant increase in construction of parallel robots [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 ]. Manipulators and parallel robots are more widely applied in industry.…”

Section: Introductionmentioning

confidence: 99%

Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

Łaski¹,

Smykowski²

2021

Sensors

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“…Instantaneous screw was described as the twist of rigid body in the beginning [34]. Twist and wrench, known as the infinitesimal displacement and external force, are widely applied to the kinematic [37,38], stiffness [39,40], dynamic analysis and design [41][42][43] of mechanisms. It has been rigorously proved that a differential map exists in the finite and instantaneous screws.…”

Section: Introductionmentioning

confidence: 99%

A Survey of Mathematical Tools in Topology and Performance Integrated Modeling and Design of Robotic Mechanism

Huo

Yang

Lian

et al. 2020

Chin. J. Mech. Eng.

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Topology and performance are the two main topics dealt in the development of robotic mechanisms. However, it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified frame. As the properties associated with topology and performance, finite motion and instantaneous motion of the robot play key roles in the procedure. On the purpose of providing a fundamental preparation for integrated modeling and design, this paper carries out a review on the existing unified mathematic frameworks for motion description and computation, involving matrix Lie group and Lie algebra, dual quaternion and pure dual quaternion, finite screw and instantaneous screw. Besides the application in robotics, the review of the work from these mathematicians concentrates on the description, composition and intersection operations of the finite and instantaneous motions, especially on the exponential-differential maps which connect the two sides. Furthermore, an in-depth discussion is worked out by investigating the algebraical relationship among these methods and their further progress in integrated robotic development. The presented review offers insightful investigation to the motion description and computation, and therefore would help designers to choose appropriate mathematical tool in the integrated design and modeling and design of mechanisms and robots.

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“…An in-depth analysis of PKMs addressing different subjects can be found in the literature. They include aspects such as the workspace [4,5], kinematics [6,7], dynamics [8,9], elastostatics [10], motion/force transmissibility [11], robot control [12], optimal robot reconfiguration [13], robot calibration [14], and so on. Furthermore, there is exhaustive literature dealing with optimization approaches for parallel robot trajectory planning [15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

et al. 2020

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This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variables correspond to the anchoring points of the limbs of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.

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Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles

Cited by 14 publications

References 33 publications

Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

A Survey of Mathematical Tools in Topology and Performance Integrated Modeling and Design of Robotic Mechanism

Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

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