A parallel manipulator with planar configurable platform and three end-effectors

DOI10.1155/2019/7972837MaRDI QIDQ2298807zbMATH OpenOpenAlexWikidataFDO

Authors Jaime Gallardo-Alvarado, Jesus H. Tinajero-Campos

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/7972837

Mathematics Subject Classification ID

Global methods, including homotopy approaches to the numerical solution of nonlinear equations (65H20) Robot dynamics and control of rigid bodies (70E60)

Review text

Summary: This work reports on the kinematic analysis of a planar parallel manipulator endowed with a configurable platform assembled with six terminal links serially connected by means of revolute joints. This topology allows the robot manipulator to dispose of three relative degrees of freedom owing to the mobility of an internal closed-loop chain. Therefore, the proposed robot manipulator can admit three end-effectors. The forward displacement analysis of the configurable planar parallel manipulator is easily achieved based on unknown coordinates denoting the pose of each terminal link. Thereafter, the analysis leads to twelve quadratic equations which are numerically solved by means of the Newton homotopy method. Furthermore, a closed-form solution is available for the inverse position analysis. On the contrary, the instantaneous kinematics of the robot manipulator is investigated by means of the theory of screws. Numerical examples are included with the purpose to illustrate the method of kinematic analysis.

Recommendations

• A Gough-Stewart parallel manipulator with configurable platform and multiple end-effectors
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• scientific article; zbMATH DE number 1304555

Cites work

• A study of convergence on the Newton-homotopy continuation method
• An application of the Newton-homotopy continuation method for solving the forward kinematic problem of the 3-RRS parallel manipulator
• Dynamics of parallel manipulators by means of screw theory.
• Kinematic analysis of parallel manipulators by algebraic screw theory

Cited in

(4)

• Study of planar three-degree-of-freedom 2-RRR parallel manipulators.
• A Gough-Stewart parallel manipulator with configurable platform and multiple end-effectors
• Kinematic analysis of a compliant, parallel and three-dimensional meso-manipulator generated from a planar structure
• Integrating dynamics into design and motion optimization of a 3-PRR planar parallel manipulator with discrete time transfer matrix method

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