Design and Kinematic Analysis of a 6-DOF Asymmetric Parallel Robot Manipulator with 4-SPS and 2-CPS Type Legs

2021 International Conference in Advances in Power, Signal, and Information Technology (APSIT) Pub Date : 2021-10-08 DOI:10.1109/APSIT52773.2021.9641285

Metin Toz

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引用次数: 1

Abstract

This paper presents the design, inverse kinematic, Jacobian and workspace analysis of a six Degrees of Freedom (6-DOF) asymmetric parallel robot manipulator. The manipulator was designed by two CPS and four SPS type legs (C: passive cylindrical joint, P: active prismatic joint, S: passive spherical joint). The mechanism includes two passive cylindrical joints at the lower ends of its two legs instead of the spherical joints as in its symmetrical counterparts. Thus, the asymmetry of the mechanism is because of the two cylindrical joints. The basic mathematical formulations for inverse kinematic and Jacobian matrix analyses are given, and the effects of the cylindrical joints on the reachable workspace of the mechanism are presented. Moreover, the dextrous translational workspace of the mechanism is also obtained and compared by the workspace of the classic symmetrical six DOF SPS parallel manipulator. The results show that using cylindrical joints make the mechanism has better workspace characteristics than the classical one.

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4-SPS - 2-CPS型六自由度非对称并联机器人机械手的设计与运动学分析

介绍了一种六自由度非对称并联机器人的设计、运动学逆解、雅可比矩阵和工作空间分析。该机械手由2个CPS型腿和4个SPS型腿(C:被动圆柱关节，P:主动移动关节，S:被动球面关节)组成。该机构在其两条腿的下端包括两个被动圆柱形关节，而不是其对称对应物中的球形关节。因此，机构的不对称是由于两个圆柱形关节。给出了机构运动学逆分析和雅可比矩阵分析的基本数学表达式，并给出了圆柱关节对机构可达工作空间的影响。此外，还得到了机构的灵巧平移工作空间，并与经典对称六自由度SPS并联机器人的工作空间进行了比较。结果表明，采用圆柱关节使机构具有比传统机构更好的工作空间特性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2021 International Conference in Advances in Power, Signal, and Information Technology (APSIT)

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