The basic parallel robotics principle of defining kinematic constraints as vector loops is transferred from the general 3T3R case to the 3T2R case by applying a nonlinear Tait-Bryan-angle rotation constraint using the intrinsic Z-\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}-\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} convention. This presents an alternative way to the deduction of differential inverse kinematics by the theory of linear transformations. The resulting formulation is used in a permutational combined structural and dimensional synthesis. The modular approach allows to combine databases of serial and parallel robots without manual intervention. The validation shows the reproducibility of existing kinematic structures using the new kinematic formulation. The optimization scheme allows to obtain suitably dimensioned symmetric 3T2R parallel robots for a given task.
Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
10 pages
Article/Chapter (Book)
Electronic Resource
English