Kinematics analysis of 6-DOF parallel micro-manipulators with offset u-joints : a case study

Dalvand, Mohsen Moradi and Shirinzadeh, Bijan 2012, Kinematics analysis of 6-DOF parallel micro-manipulators with offset u-joints : a case study, International journal of intelligent mechatronics and robotics, vol. 2, no. 1, January-March, pp. 28-40.

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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
Journal name International journal of intelligent mechatronics and robotics
Volume number 2
Issue number 1
Season January-March
Start page 28
End page 40
Total pages 13
Publisher IGI Global
Place of publication Hershey, Pa.
Publication date 2012-01
ISSN 2156-1656
2156-1664
Keyword(s) Degree of Freedom (DOF)
forward kinematics
inverse kinematics
kinematic chain
parallel manipulators
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 C1.1 Refereed article in a scholarly journal
Persistent URL http://hdl.handle.net/10536/DRO/DU:30056236

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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