Mathematical Model for Kinematic Analysis of Working Coordinates of General Mechanisms

1995 ◽  
Author(s):  
J. Y. Wang ◽  
H. J. Yeh ◽  
T. C. Lin ◽  
J. K. Wu
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Coordinate Space ◽  
Coordinate Systems ◽  
Constraint Equations ◽  
Path Design ◽  
Joint Coordinates ◽  
Solid Foundation ◽  
Inverse Kinematic Analysis ◽  
Cartesian Coordinate

Abstract Mathematical models have been derived for the kinematic analysis of working coordinates, which contain the formulation of the working coordinates constraint equations in terms of the relative joint coordinates, the transformation of the Jacobian matrix of the associated constraint equations from the Cartesian coordinate space to the relative joint coordinate space, and formulation for velocity and acceleration calculation. Such models lay out a solid foundation for the computational inverse kinematic analysis. In addition, moveable working coordinates are derived for both local and global coordinate systems. Application of this can be the working path design of general manipulators.

A General Inverse Kinematic Analysis of 6-Dof Articulated Manipulators

2014 ◽  
Vol 532 ◽  
pp. 275-279 ◽  
Author(s):  
Xiao Ping Yang ◽  
Ke Zhou ◽  
Zao Ni
Keyword(s):  
Analytical Solution ◽  
Kinematic Analysis ◽  
Basic Structure ◽  
Inverse Kinematic ◽  
Modeling Method ◽  
Analysis Method ◽  
Coordinate Systems ◽  
Industrial Manipulator ◽  
Solution Methods ◽  
Inverse Kinematic Analysis

This paper summarized the basic structure of industry articulated 6-dof manipulators, general DH parameters were obtained by the DH modeling method and the general analytical solution methods was derived. For different structural forms and different coordinate systems establishing method, this solution can give consistent results, and the industrial manipulator inverse kinematic analysis method was simplified.

Inverse Kinematic Analysis of Three Link Mechanism for Fin Actuation of Fish Like Micro Device

2015 ◽  
Vol 24 ◽  
pp. 77-81 ◽  
Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Fazl E. Ahad ◽  
Anees Ur Rehman ◽  
Muhammad Hussain
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Design Verification ◽  
Simulation Tools ◽  
Analysis And Design ◽  
Link Mechanism ◽  
Inverse Kinematic Analysis ◽  
Verification Process ◽  
Process Computer ◽  
Functional Prototype

In this paper, inverse kinematic analysis of a proposed three link mechanism of a bio-inspired micro scanning device towed underwater by a surface vessel to actuate its aileron fins for its depth control and for its stabilization against roll is performed. Mechanism is actuated by IPMC actuators. To speed up the design verification process, computer aided simulations are used to perform motion analysis of the proposed IPMC actuated mechanism through Pro/Mechanism tool. Inverse kinematic analysis is performed to find out the joint variables of the mechanism to realize fin actuation along desired path. Displacements, velocities and accelerations of the links constructing mechanism are found out to establish their interrelationship. Results are analysed for the study of mechanism efficacy and for sizing the IPMC actuators. This paper contributes to introduce a new approach of virtual prototyping using advanced simulation tools for analysis and design verification of IPMC actuated mechanisms for biomimetic applications before moving into functional prototype stage.

Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF

2010 ◽  
Vol 4 (4) ◽  
pp. 364-371 ◽  
Author(s):  
Nobuyuki Iwatsuki ◽  
◽  
Norifumi Nishizaka ◽  
Koichi Morikawa ◽  
Koji Kondoh ◽  
...  
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Weighting Coefficient ◽  
Redundant Manipulator ◽  
Output Displacement ◽  
Spatial Parallel Mechanism ◽  
Inverse Kinematic Analysis ◽  
Forward Kinematic

This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints, and a center rod. The forward kinematic analysis of the manipulator based on the forward kinematics of each unit by numerical calculation was carried out. The inverse kinematic analysis, the iterative calculation so as to converge output error while output displacement is distributed into each unit with weighting coefficient, was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate the desired trajectories.

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

2006 ◽  
Vol 129 (8) ◽  
pp. 793-798 ◽  
Author(s):  
Shi Zhi Xin ◽  
Luo Yu Feng ◽  
Hang Lu Bing ◽  
Yang Ting Li
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Forward Kinematics ◽  
The Real ◽  
Inverse Kinematics Problem ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

Closed-Form Inverse Kinematic Analysis of Variable-Geometry Truss Manipulators

1992 ◽  
Vol 114 (3) ◽  
pp. 438-443 ◽  
Author(s):  
B. Padmanabhan ◽  
V. Arun ◽  
C. F. Reinholtz
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Practical Importance ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Variable Geometry ◽  
Inverse Kinematic Problem ◽  
Inverse Kinematic Analysis ◽  
Variable Geometry Truss

A variety of applications for variable-geometry truss manipulators (VGTMs) have been demonstrated or proposed in the literature. Most of these applications require solution to the inverse kinematic problem, yet only a few isolated examples of closed-form solution methods have been presented to date. This paper provides an overview to the general problem of inverse kinematic analysis of variable-geometry truss manipulators and presents new closed-form solution techniques for problems of practical importance.

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