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

conference contribution
posted on 2011-01-01, 00:00 authored by Mohsen Moradi DalvandMohsen Moradi Dalvand, B Shirinzadeh
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.

History

Event

Mechatronics Technology. Conference (15th : 2011 : Melbourne, Victoria)

Pagination

1 - 6

Publisher

[ICMT]

Location

Melbourne, Victoria

Place of publication

[Melbourne, Vic.]

Start date

2011-11-30

End date

2011-12-02

Language

eng

Publication classification

E1.1 Full written paper - refereed

Title of proceedings

ICMT 2011 : Proceedings of the 15th International Conference on Mechatronics Technology : Precision Mechatronics for Advanced Manufacturing, Service, and Medical Sectors

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