Kinematics analysis of 6-DOF parallel micro-manipulators with offset u-joints : a case study
Data(s) |
01/01/2012
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Resumo |
This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies. |
Identificador | |
Idioma(s) |
eng |
Publicador |
IGI Global |
Relação |
http://dro.deakin.edu.au/eserv/DU:30056236/dalvand-kinematicsanalysis-2012.pdf http://doi.org/10.4018/ijimr.2012010102 |
Palavras-Chave | #Degree of Freedom (DOF) #forward kinematics #inverse kinematics #kinematic chain #parallel manipulators |
Tipo |
Journal Article |