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.
Attached Files
Name
Description
MIMEType
Size
Downloads
Title
Inverse kinematics analysis of 6-RRCRR parallel manipulators
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.
Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.