TY - GEN
T1 - Kinematics, workspace optimization, and performance evaluation of a 3-leg 6-dof robot in rrrs configuration
AU - Jensen, Nathan A.
AU - Nelson, Carl A.
N1 - Publisher Copyright:
Copyright © 2020 ASME.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020
Y1 - 2020
N2 - Underactuated parallel manipulators that achieve 6 DOF via multiple controllable degrees of freedom per leg are often pursued and reported due to their large workspaces. This benefit comes at a cost to the manipulator’s performance, however. Such manipulators must then be evaluated in order to characterize their kinematics in terms of position and motion. This paper establishes a pair of inverse kinematic solutions for a previously proposed and prototyped 3-leg, 6-DOF parallel robot. These solutions are then used to define the robot’s workspace with experimental validation and to optimize the robot’s geometry for maximum workspace volume. The linear components of the Jacobian are then defined, allowing for analysis of the manipulability of the robot. The full Jacobian is also defined, and singularities are examined throughout the workspace of the robot.
AB - Underactuated parallel manipulators that achieve 6 DOF via multiple controllable degrees of freedom per leg are often pursued and reported due to their large workspaces. This benefit comes at a cost to the manipulator’s performance, however. Such manipulators must then be evaluated in order to characterize their kinematics in terms of position and motion. This paper establishes a pair of inverse kinematic solutions for a previously proposed and prototyped 3-leg, 6-DOF parallel robot. These solutions are then used to define the robot’s workspace with experimental validation and to optimize the robot’s geometry for maximum workspace volume. The linear components of the Jacobian are then defined, allowing for analysis of the manipulability of the robot. The full Jacobian is also defined, and singularities are examined throughout the workspace of the robot.
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U2 - 10.1115/DETC2020-22098
DO - 10.1115/DETC2020-22098
M3 - Conference contribution
AN - SCOPUS:85096146903
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 44th Mechanisms and Robotics Conference (MR)
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020
Y2 - 17 August 2020 through 19 August 2020
ER -