Inverse kinematics analysis of 6-RRCRR parallel manipulators

Dalvand, Mohsen Moradi, Shirinzadeh, Bijan and Nahavandi, Saeid 2013, Inverse kinematics analysis of 6-RRCRR parallel manipulators, in AIM 2013 : Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, Piscataway, N.J., pp. 644-648, doi: 10.1109/AIM.2013.6584165.

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Title Inverse kinematics analysis of 6-RRCRR parallel manipulators
Author(s) Dalvand, Mohsen Moradi
Shirinzadeh, Bijan
Nahavandi, SaeidORCID iD for Nahavandi, Saeid
Conference name Advanced Intelligent Mechatronics. IEEE/ASME International Conference (2013 : Wollongong, New South Wales)
Conference location Wollongong, New South Wales
Conference dates 9-12 Jul. 2013
Title of proceedings AIM 2013 : Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Editor(s) [Unknown]
Publication date 2013
Conference series IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Start page 644
End page 648
Total pages 5
Publisher IEEE
Place of publication Piscataway, N.J.
Summary This 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.
ISBN 1467353205
Language eng
DOI 10.1109/AIM.2013.6584165
Field of Research 091302 Automation and Control Engineering
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2013, IEEE
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