Abstract
The paper propose an iterative method for computing the direct kinematic of a 3-RRPS manipulator by considering for each leg a rotary and a linear actuator. It was calculated the error due to difference between the computed mobile triangle vertices and its sides length. To identify the possible angles solutions, it was developed a special function that determine a threshold value applied to the calculated sides of mobile triangle, depending on iteration phases and manipulator dimensional values. The iterations steps lead to refine the range values of ψ angles and its inappropriate values removal. The method can be successfully used for the kinematic analysis of several structure types of legs, by preserving the distance between the connection joints with the fixed and mobile frames.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Angeles J (2007) Fundamentals of robotic mechanical systems. In: Theory, methods, and algorithms, 3rd edn. Springer Science and Business Media
Merlet J-P (2006) Parallel robots. Solid mechanics and its applications. Springer
Villalibre SH (2016) Design methodology for MAST-type parallel manipulators based on kinematics, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS. PhD thesis, University of the Basque Country, Bilbao
Laribi MA, Romdhane L, Zedhloul S (2007) Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace. Mech Mach Theory 42:859–870
Staicu S, Zhang D (2008) A novel dynamic modeling approach for parallel mechanisms analysis. Robot Comput-Integr Manuf 24:167–172
Tsai M-S, Yuan W-H (2010) Inverse dynamics analysis for a 3-PRS parallel mechanism based on a special decomposition of the reaction forces. In: Mechanism and machine theory
Dash AK, Chen I-M, Yeo SH, Yang G (2005) Workspace generation and planning singularity-free path for parallel manipulators. Mech Mach Theory 40:776–805
Kim D, Chung W (1999) Analytic singularity equation and analysis of six-DOF parallel manipulators using local structurization method. IEEE Trans Robot Autom 15(4)
Monsarrat B, Gosselin CM (2003) Workspace analysis and optimal design of a 3-leg 6-DOF parallel platform mechanism. IEEE Trans Robot Autom 19(6)
Jiang Z, Li Y, Xu L (2014) Kinematic analysis of a novel 4-DOF parallel mechanism. In: Proceedings of 2014 workshop on fundamental issues and future research directions for parallel mechanisms and manipulators, Tianjin
El-Khasawneh B, AlAli A, AlAzzam A, Gan D, Tayeh MA (2014) A novel 5 degrees-of-freedom hybrid serial-parallel kinematics manipulator (two-3PRR): inverse and forward kinematics. In: Proceedings of 2014 workshop on fundamental issues and future research directions for parallel mechanisms and manipulators, Tianjin
Neagoe M, Diaconescu D (2009) General method and algorithms used for accuracy modeling of parallel robots. Int J Biomechatron Biomed Robot 1(1):22–30
Ceccarelli M, Carbone G, Ottaviano E (2005) An optimization problem approach for designing both serial and parallel manipulators. In: Proceedings of MUSME 2005, the international symposium on multibody systems and mechatronics, Uberlandia, Brazil
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Grigorescu, S.M., Lovasz, EC., Pop, C. (2018). Kinematic Analysis of a 3-RRPS Manipulator. In: Doroftei, I., Oprisan, C., Pisla, D., Lovasz, E. (eds) New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, vol 57. Springer, Cham. https://doi.org/10.1007/978-3-319-79111-1_40
Download citation
DOI: https://doi.org/10.1007/978-3-319-79111-1_40
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-79110-4
Online ISBN: 978-3-319-79111-1
eBook Packages: EngineeringEngineering (R0)