Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and systematic kinematic description. For an efficient formulation of the inverse kinematics problem (IKP) an existing approach using intrinsic Z- Y \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$Y'$$\end{document}- X \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$X''$$\end{document} Tait-Bryan angles for the rotational kinematic constraints is transferred from 3T3R PMs to 3T1R PMs. The adaption of the kinematics model for the five-DoF leg chains of symmetric 3T1R PMs is elaborated in detail. The presented application in a Newton-Raphson IK scheme with nullspace projection is validated within a dimensional synthesis of such PMs, already exploiting the redundancy. The framework is able to reproduce existing PMs from literature. Results show the dimensioning of PMs for an exemplary task.


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    Titel :

    Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Altuzarra, Oscar (Herausgeber:in) / Kecskeméthy, Andrés (Herausgeber:in) / Schappler, Moritz (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Erscheinungsdatum :

    2022-06-18


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch