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Kinematics analysis of 6-DOF parallel micro-manipulators with offset U-Joints : a case study

Dalvand, Mohsen Moradi and Shirinzadeh, Bijan 2011, Kinematics analysis of 6-DOF parallel micro-manipulators with offset U-Joints : a case study, in ICMT 2011 : Proceedings of the 15th International Conference on Mechatronics Technology : Precision Mechatronics for Advanced Manufacturing, Service, and Medical Sectors, [ICMT], [Melbourne, Vic.], pp. 1-6.

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Title Kinematics analysis of 6-DOF parallel micro-manipulators with offset U-Joints : a case study
Author(s) Dalvand, Mohsen Moradi
Shirinzadeh, Bijan
Conference name Mechatronics Technology. Conference (15th : 2011 : Melbourne, Victoria)
Conference location Melbourne, Victoria
Conference dates 30 Nov.-2 Dec. 2011
Title of proceedings ICMT 2011 : Proceedings of the 15th International Conference on Mechatronics Technology : Precision Mechatronics for Advanced Manufacturing, Service, and Medical Sectors
Editor(s) [Unknown]
Publication date 2011
Conference series International Conference on Mechatronics Technology
Start page 1
End page 6
Total pages 6
Publisher [ICMT]
Place of publication [Melbourne, Vic.]
Summary 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.
Language eng
Field of Research 091302 Automation and Control Engineering
091304 Dynamics, Vibration and Vibration Control
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1.1 Full written paper - refereed
Persistent URL http://hdl.handle.net/10536/DRO/DU:30056197

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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