Journal ArticleDOI
The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm
Reads0
Chats0
TLDR
A Jacobian-based Closed-Loop Direct Kinematics (CLDK) algorithm is presented to solve the direct kinematics problem along a given trajectory and results are illustrated for an industrial robot of the Tricept family.Abstract:
This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-of-freedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical and a geometric Jacobian, and a manipulability analysis along the various workspace directions is developed using the concept of force and velocity ellipsoids. A Jacobian-based Closed-Loop Direct Kinematics (CLDK) algorithm is presented to solve the direct kinematics problem along a given trajectory. Simulation results are illustrated for an industrial robot of the Tricept family.read more
Citations
More filters
Book
Parallel Robots: Mechanics and Control
TL;DR: In this paper, the authors present a model of a planar manipulator using loop closure and Jacobian analysis of the Stewart-Gough platform and the Jacobian matrix of a parallel manipulator.
Journal ArticleDOI
Kinematic Analysis of 3-DOF Position Mechanisms for Use in Hybrid Kinematic Machines
Lung-Wen Tsai,Sameer A. Joshi +1 more
TL;DR: The hybrid kinematic machine as discussed by the authors consists of a position mechanism and an orientation mechanism that can be arranged in series or in parallel to achieve the notion of modular and reconfigurable machining centers.
Journal ArticleDOI
Formulating Jacobian matrices for the dexterity analysis of parallel manipulators
Geoffrey Pond,Juan A. Carretero +1 more
TL;DR: The condition number of the Jacobian matrix has been commonly used in determining the dexterous regions of a manipulator workspace as discussed by the authors, however, for manipulators having a mix of both rotational and translational degrees of freedom, the condition number may not be used due to dimensional inconsistencies with its elements.
Journal ArticleDOI
1T2R Parallel Mechanisms Without Parasitic Motion
Qinchuan Li,Jacques M. Hervé +1 more
TL;DR: This paper investigates the type synthesis of the 1T2R PM without parasitic motion, and the limb bond {G(u)}{S(N )} is identified.
Journal ArticleDOI
Generalized Jacobian analysis of lower mobility manipulators
TL;DR: In this article, a general approach for Jacobian analysis of lower mobility manipulators is presented, based on screw theory and linear algebra, which allows the first order kinematic and static modeling (velocity, accuracy, force and stiffness) to be integrated into a unified mathematical framework.
References
More filters
Journal ArticleDOI
Manipulability of robotic mechanisms
TL;DR: In this article, a measure of manipulability of robotic mechanisms in positioning and orienting end-effectors has been proposed and the best postures of various types of manipulators are given, and a four degree-of-freedom finger is considered from the viewpoint of the measure.
Book
Modeling and Control of Robot Manipulators
TL;DR: In this paper, the authors provide a guide to the foundations of robotics: modelling, mechanics and control, including kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.
Journal ArticleDOI
Modelling and Control of Robot Manipulators
TL;DR: In this article, the authors present the second edition of a textbook published in 1996 by McGraw Hill and originates from a graduate level course given by the authors at the University of Naples.