scholarly journals The Inverse Kinematic Problem Solution for the Slider-crank Mechanism-based Parallel Structure Manipulator with Three Degrees of Freedom

2014 ◽  
Vol 15 (09) ◽  
Author(s):  
Alexey Romanov ◽  
Vasily Paschenko
Keyword(s):  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Parallel Structure ◽  
Problem Solution ◽  
Inverse Kinematic Problem ◽  
Crank Mechanism ◽  
Three Degrees Of Freedom

scholarly journals Kinematic Analysis of a Parallel-Sequential Structure Mechanism with Five Degrees of Freedom

2019 ◽  
pp. 18-24
Author(s):  
G.S. Filippov
Keyword(s):  
Numerical Experiment ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Parallel Structure ◽  
Kinematic Pair ◽  
Inverse Kinematic Problem ◽  
Sequential Structure ◽  
Spine Movement ◽  
Three Degrees Of Freedom

The article presents a synthesis of a mechanism of parallel-sequential structure with five degrees of freedom capable of processing objects with an extended dimention in one direction, wherein the considered mechanism can have a high bearing capacity. Corresponding problems are associated with manufacturing jet turbine airfoil as well as vertebrae operations (on the human spine). Movement along a coordinate that is linked to large dimensions of a processed object is provided using the initial translation pairs equipped with a motor. It is followed by a flat partial parallel structure mechanism with three degrees of freedom, and further – by a revolute kinematic pair. A kinematic analysis of the considered mechanism is performed, and the inverse kinematic problem is solved. The Angeles-Gosselin method for parallel structure mechanisms is used when performing velocity calculations of the parallel-sequential structure mechanism. The results of the numerical experiment are presented.

scholarly journals Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 747-767 ◽  
Author(s):  
Masayuki Shimizu
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Inverse Kinematic Problem ◽  
Target Orientation ◽  
End Effector ◽  
Position And Orientation

SUMMARYThis paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

Kinematics Optimization of a 3-SPS Parallel Redundant Motion Mechanism Using Conformal Geometric Algebra

2015 ◽  
Vol 789-790 ◽  
pp. 889-895
Author(s):  
Jahng Hyon Park ◽  
Jeseok Kim ◽  
Jin Han Jeong
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Optimization Technique ◽  
Optimal Solution ◽  
Inverse Kinematic ◽  
Fast Reaction ◽  
Inverse Kinematic Problem ◽  
Time Optimal ◽  
Parallel Link ◽  
Spherical Parallel Manipulator

In this paper, an actuation mechanism for high-speed aiming of a target is proposed. The mechanism is a 3DOF-SPS (spherical-prismatic-spherical) parallel manipulator and can be used for a missile defense system with a fast reaction time. This type of parallel mechanism has high rigidity against external disturbances and accordingly high stiffness and precision. The target aiming requires 2 degrees of freedom and this 3 DOF mechanism has one redundancy. For fast manipulation of the proposed mechanism, the redundancy can be exploited and an optimal solution can be found out of the infinite number of inverse kinematic solutions. For finding a near time-optimal solution, a cost function is formulated considering displacement of each parallel link and an optimization technique is used for solution of the inverse kinematic problem.

scholarly journals ANALYTICAL AND NUMERICAL METHODS OF INVERSE KINEMATIC PROBLEM SOLUTION FOR DELTA ROBOT

2017 ◽  
Vol 21 (5) ◽  
pp. 87-96
Author(s):  
Dmitriy S. Koltygin ◽  
◽  
Ilya A. Sedelnikov ◽  
Nikita V. Petukhov ◽  
◽  
...  
Keyword(s):  
Numerical Methods ◽  
Inverse Kinematic ◽  
Problem Solution ◽  
Inverse Kinematic Problem ◽  
Delta Robot

scholarly journals A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

2020 ◽  
Vol 12 (2) ◽  
Author(s):  
Huiping Shen ◽  
Damien Chablat ◽  
Boxiong Zeng ◽  
Ju Li ◽  
Guanglei Wu ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Design Theory ◽  
Degrees Of Freedom ◽  
Analytic Solutions ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Topological Design ◽  
Prismatic Joints ◽  
Topological Characteristics ◽  
Three Degrees Of Freedom

Abstract According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. First, the main topological characteristics, such as the POC, degree-of-freedom, and coupling degree, were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed, which corresponds to its partial motion decoupling property.

General method for kinematic synthesis of manipulators with task specifications

Robotica ◽  
1997 ◽  
Vol 15 (6) ◽  
pp. 653-661 ◽  
Author(s):  
F.B. Ouezdou ◽  
S. Régnier
Keyword(s):  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Synthesis Problem ◽  
Inverse Kinematic Problem ◽  
Kinematic Synthesis ◽  
Six Degrees Of Freedom ◽  
Cluttered Environment ◽  
Dimensional Parameters ◽  
Joint Limits ◽  
General Method

This paper deals with the kinematic synthesis of manipulators. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks specified by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps: the problem statement, the objective functions formulations and the minimum parameters values determination. Then, this method is applied to solve the synthesis of the Denavit and Hartenberg set of parameters of a manipulator with a given kinematic structure. In this case, the kind and the number of joints are specified and a set of constraints are included such as joint limits, range of dimensional parameters and geometrical obstacles avoidance. We show that if the Denavit and Hartenberg parameters (DH) are known, the synthesis problem is reduced to an inverse kinematic problem. We show also how the problem of robot base placement can be solved by the same method. A general algorithm is given for solving the synthesis problem for all kind of manipulators. The main contribution of this paper is a general method for kinematic synthesis of all kind of manipulators and some examples are presented for a six degrees of freedom manipulator in cluttered environment.

scholarly journals A Tabular Format for Computing Inverse Kinematic Equations for a 3DOF Robot Leg

10.5772/7234 ◽  
2009 ◽  
Vol 6 (3) ◽  
pp. 26 ◽  
Author(s):  
F. Nickols
Keyword(s):  
Power Series ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Coordinate Space ◽  
Power Series Method ◽  
Cylindrical Coordinate ◽  
Field Programmable ◽  
Robot Leg ◽  
Three Degrees Of Freedom

A method is presented for accurately computing the three servomechanism angles that place the leg tip of a 3DOF robot leg in cylindrical coordinate space, R, θ, Z. The method is characterized by (i) a multivariable integer power series for each degree of freedom that can be used to replace traditional trigonometrical functions, and, (ii) only integer numbers are used. A technique is shown that derives the coefficients, Ci j k, of each of the terms in the series that represents a servomechanism angle, S. This power series method has the advantage of; (i) satisfying accuracy requirements, (ii) producing a unique solution, (iii) high speed realtime computation, (iv) low memory requirement and (v) implementation into a generic algorithm or hardware such as a field programmable gate array. The series can represent many continuous kinematic systems just by changing the values of the coefficients. The coefficients are rapidly computed via a spreadsheet. The method can be extended to more than three degrees of freedom and also mapped into other coordinate frames such as a Cartesian or spherical.

Kinematic Analysis for Hybrid 2-(6-UPU) Manipulator Using Wavelet Neural Network

2014 ◽  
Vol 1016 ◽  
pp. 726-730 ◽  
Author(s):  
Arash Rahmani ◽  
Ahmad Ghanbari ◽  
Siamak Pedrammehr
Keyword(s):  
Neural Network ◽  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Wavelet Neural Network ◽  
Learning Ability ◽  
Parallel Structure ◽  
Specific Class ◽  
Inverse Kinematic Problem ◽  
Highly Nonlinear ◽  
Spiral Trajectories

This paper addresses forward and inverse kinematics of a specific class of serial-parallel manipulators, known as 2(6-UPU) manipulators. This manipulator composed of two modules which consist of elementary manipulators with the parallel structure of Stewart Platform. At first, the Kinematics Model of the hybrid manipulator is obtained. As there is a highly nonlinear relations between joint variables, and position and orientation of the end effectors, the inverse kinematic problem of these manipulators is quite complicated to solve. In this study, wavelet based neural network (WNN) with its inherent learning ability, is used to solve the inverse kinematic problem. Also, proposed wavelet neural network is applied to approximate the paths of mid and upper plates in circle and spiral trajectories. Finally, the results of simulation show high accurate performance of proposed method.

Sign in / Sign up

Export Citation Format

Share Document