Inverse and forward kinematics and workspace analysis of a novel 5-DOF (3T2R) parallel–serial (hybrid) manipulator

International Journal of Advanced Robotic Systems

article

Anton Antonov¹  Alexey Fomin¹  Victor Glazunov¹  Sergey Kiselev¹  Giuseppe Carbone² 

[1] Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN);Department of Mechanical, Energy and Management Engineering (DIMEG), University of Calabria

关键词: 5-DOF manipulator;    parallel–serial (hybrid) manipulator;    three translations and two rotations motion pattern (3T2R);    inverse and forward kinematics;    reachable workspace;    MATLAB simulation;    CAD modeling;   

DOI  :  10.1177/1729881421992963

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

The proposed study provides a solution of the inverse and forward kinematic problems and workspace analysis for a five-degree-of-freedom parallel–serial manipulator, in which the parallel kinematic chain is made in the form of a tripod and the serial kinematic chain is made in the form of two carriages displaced in perpendicular directions. The proposed manipulator allows to realize five independent movements—three translations and two rotations motion pattern (3T2R). Analytical relationships between the coordinates of the end-effector and five controlled movements provided by manipulator’s drives (generalized coordinates) were determined. The approach of reachable workspace calculation was defined with respect to available design constraints of the manipulator based on the obtained algorithms of the inverse and forward kinematics. Case studies are considered based on the obtained algorithms of inverse and forward kinematics. For the inverse kinematic problem, the solution is obtained in accordance with the given laws of position and orientation change of the end-effector, corresponding to the motion along a spiral-helical trajectory. For the forward kinematic problem, various assemblies of the manipulator are obtained at the same given values of the generalized coordinates. An example of reachable workspace designing finalizes the proposed study. Dimensions and extreme values of the endeffector orientation angles are calculated.

【 授权许可】

CC BY