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Inverse kinematics analysis of 6-RRCRR parallel manipulators
conference contribution
posted on 2013-01-01, 00:00 authored by Mohsen Moradi DalvandMohsen Moradi Dalvand, B Shirinzadeh, Saeid NahavandiThis paper presents a solution to the inverse kinematics of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration. The inverse kinematics solution of such parallel robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configuration is more complex due to the existence of RR-joint variables. A novel methodology is established to define 6 independent variables of the actuators and 12 dependent RR-joint variables using the pose of the mobile platform with respect to the base frame. The constraint of RR-joints are analysed and the numerical algorithm to obtain joint variables is assessed. The forward kinematics of a 6- RRCRR parallel manipulator is modelled and computational analysis is performed in order to numerically verify the accuracy and effectiveness of the proposed methodology for the inverse kinematics analysis. Numerical results of a trajectory tracking simulation are provided. The results verify high accuracy for the proposed inverse kinematics solution of this special family of parallel micromanipulators.
History
Event
Advanced Intelligent Mechatronics. IEEE/ASME International Conference (2013 : Wollongong, New South Wales)Pagination
644 - 648Publisher
IEEELocation
Wollongong, New South WalesPlace of publication
Piscataway, N.J.Publisher DOI
Start date
2013-07-09End date
2013-07-12ISBN-13
9781467353205ISBN-10
1467353205Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2013, IEEETitle of proceedings
AIM 2013 : Proceedings of the IEEE/ASME International Conference on Advanced Intelligent MechatronicsUsage metrics
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