Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector
Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/227891 |
| Acceso en línea: | http://hdl.handle.net/10261/227891 |
| Access Level: | acceso abierto |
| Palabra clave: | Parallel manipulators Reconfigurability Direct kinematics Singularities |
| Sumario: | Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider <i>n</i>-<span style="text-decoration: underline;">R</span>RR planar configurable robots, in which the end-effector is a chain composed of <i>n</i> links and revolute joints, and is controlled by <i>n</i> rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>4</mn></mrow></semantics></math></inline-formula>, <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>5</mn></mrow></semantics></math></inline-formula> and <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>6</mn></mrow></semantics></math></inline-formula>; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-<span style="text-decoration: underline;">R</span>RR mechanism to <i>n</i>-<span style="text-decoration: underline;">R</span>RR robots (with <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>></mo><mn>3</mn></mrow></semantics></math></inline-formula>). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–<span style="text-decoration: underline;">R</span>RR robot prototype. |
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