Details
| Original language | English |
|---|---|
| Title of host publication | Advances in Robot Kinematics 2022 |
| Editors | Oscar Altuzarra, Andrés Kecskeméthy |
| Pages | 198-207 |
| Number of pages | 10 |
| ISBN (electronic) | 978-3-031-08140-8 |
| Publication status | Published - 18 Jun 2022 |
Publication series
| Name | Springer Proceedings in Advanced Robotics |
|---|---|
| Volume | 24 SPAR |
| ISSN (Print) | 2511-1256 |
| ISSN (electronic) | 2511-1264 |
Abstract
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 ′ - X ′ ′ 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.
Keywords
- 3T1R, Dimensional synthesis, Euler angles, Functional redundancy, Kinematic constraints, Parallel manipulator, Parallel robot, Tait-Bryan angles
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Mechanical Engineering
- Engineering(all)
- Engineering (miscellaneous)
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Applied Mathematics
Cite this
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Advances in Robot Kinematics 2022. ed. / Oscar Altuzarra; Andrés Kecskeméthy. 2022. p. 198-207 (Springer Proceedings in Advanced Robotics; Vol. 24 SPAR).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints
AU - Schappler, Moritz
N1 - Funding Information: The author acknowledges the support by the Deutsche Forschungsgemeinschaft (DFG) under grant number 341489206. Matlab code to reproduce the results is available at GitHub under free license at github.com/SchapplM/ robotics-paper ark2022 3T1R.
PY - 2022/6/18
Y1 - 2022/6/18
N2 - 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 ′ - X ′ ′ 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.
AB - 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 ′ - X ′ ′ 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.
KW - 3T1R
KW - Dimensional synthesis
KW - Euler angles
KW - Functional redundancy
KW - Kinematic constraints
KW - Parallel manipulator
KW - Parallel robot
KW - Tait-Bryan angles
UR - http://www.scopus.com/inward/record.url?scp=85133217411&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-08140-8_22
DO - 10.1007/978-3-031-08140-8_22
M3 - Conference contribution
SN - 9783031081392
T3 - Springer Proceedings in Advanced Robotics
SP - 198
EP - 207
BT - Advances in Robot Kinematics 2022
A2 - Altuzarra, Oscar
A2 - Kecskeméthy, Andrés
ER -