Kinematics of a translation-rotation hybrid parallel robot
Keywords:connectivity relations, hybrid parallel robot, kinematics
Matrix relations for kinematics analysis of a spatial two-module hybrid parallel mechanism are established in this paper. Knowing the relative motions of the moving platforms, the inverse kinematics problem is solved based on a set of connectivity relations. Finally, compact results and graphs of simulation for the input relative displacements, velocities and accelerations are obtained.
TSAI, L-W., Robot analysis: the mechanics of serial and parallel manipulators, Wiley, 1999.
PLITEA, N., LESE, D., PISLA, D., VAIDA, C., Structural design and kinematics of a new parallel reconfigurable robot, Robotics and Computer-Integrated Manufacturing, 29, 1, pp. 219?235, 2013.
MERLET, J-P., Parallel robots, Kluwer Academic, 2000.
GOGU, G., T2R1-type parallel manipulators with bifurcated planar-spatial motion, European Journal of Mechanics, A/Solids, 33, pp. 1?11, 2012.
TSAI, L-W., JOSHI, S., Kinematics analysis of 3-DOF position mechanisms for use in hybrid kinematic machines, ASME Journal of Mechanical Design, 124, 2, pp. 245–253, 2002.
TANEV, T.K., Kinematics of a hybrid (parallel–serial) robot manipulator, Mechanism and Machine Theory, 35, 9, pp. 1183?1196, 2000.
IBRAHIM, O., KHALIL, W., Inverse and direct dynamic models of hybrid robots, Mechanism and Machine Theory, 45, 4, pp. 627?640, 2000.
CAMPOS, A., BUDDE, C., HESSELBACH, J., A type synthesis method for hybrid robot structures, Mechanism and Machine Theory, 43, 8, pp. 984?995, 2008.
LIU, N., WU, J., Kinematics and Application of a Hybrid Industrial Robot – Delta-RST, Sensors & Transducers, 169, 4, pp. 186?192, 2014.
SHAHINPOOR, M., Kinematics of a parallel-serial (hybrid) manipulator, Journal of Robotic Systems, 9, 1, pp. 17?36, 1992.
CHENG, H.H., LEE, J.J., PENKAR, R., Kinematic analysis of a hybrid serial-and-parallel-driven redundant industrial manipulator, International Journal of Robotics and Automation, 10, 4, pp. 159?166, 1995.
GALLARDO, J., LESSO, R., RICO, J.M., ALICI, G., The kinematics of modular spatial hyperredundant manipulators formed from RPS type limbs, Robotics and Autonomous Systems, 59, 1, pp. 12?21, 2011.
STAICU, S., Matrix modeling of inverse dynamics of spatial and planar parallel robots, Multibody System Dynamics, 27, 2, pp. 239?265, 2012.
LI, Y., STAICU, S., Inverse dynamics of a 3-PRC parallel kinematic machine, Nonlinear Dynamics, 67, 2, pp. 1031?1041, 2012.
Copyright (c) 2020 The Romanian Journal of Technical Sciences. Applied Mechanics.
This work is licensed under a Creative Commons Attribution 4.0 International License.