Details
| Original language | English |
|---|---|
| Title of host publication | Advances in Robot Kinematics 2022 |
| Editors | Oscar Altuzarra, Andrés Kecskeméthy |
| Pages | 188-197 |
| 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
The basic parallel robotics principle of defining kinematic constraints as vector loops is transferred from the general 3T3R case to the 3T2R case by applying a nonlinear Tait-Bryan-angle rotation constraint using the intrinsic Z- Y ′ - X ′ ′ convention. This presents an alternative way to the deduction of differential inverse kinematics by the theory of linear transformations. The resulting formulation is used in a permutational combined structural and dimensional synthesis. The modular approach allows to combine databases of serial and parallel robots without manual intervention. The validation shows the reproducibility of existing kinematic structures using the new kinematic formulation. The optimization scheme allows to obtain suitably dimensioned symmetric 3T2R parallel robots for a given task.
Keywords
- 3T2R, Dimensional synthesis, Euler angles, Kinematic constraints, Overconstraint, 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. 188-197 (Springer Proceedings in Advanced Robotics; Vol. 24 SPAR).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots 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 3T2R.
PY - 2022/6/18
Y1 - 2022/6/18
N2 - The basic parallel robotics principle of defining kinematic constraints as vector loops is transferred from the general 3T3R case to the 3T2R case by applying a nonlinear Tait-Bryan-angle rotation constraint using the intrinsic Z- Y ′ - X ′ ′ convention. This presents an alternative way to the deduction of differential inverse kinematics by the theory of linear transformations. The resulting formulation is used in a permutational combined structural and dimensional synthesis. The modular approach allows to combine databases of serial and parallel robots without manual intervention. The validation shows the reproducibility of existing kinematic structures using the new kinematic formulation. The optimization scheme allows to obtain suitably dimensioned symmetric 3T2R parallel robots for a given task.
AB - The basic parallel robotics principle of defining kinematic constraints as vector loops is transferred from the general 3T3R case to the 3T2R case by applying a nonlinear Tait-Bryan-angle rotation constraint using the intrinsic Z- Y ′ - X ′ ′ convention. This presents an alternative way to the deduction of differential inverse kinematics by the theory of linear transformations. The resulting formulation is used in a permutational combined structural and dimensional synthesis. The modular approach allows to combine databases of serial and parallel robots without manual intervention. The validation shows the reproducibility of existing kinematic structures using the new kinematic formulation. The optimization scheme allows to obtain suitably dimensioned symmetric 3T2R parallel robots for a given task.
KW - 3T2R
KW - Dimensional synthesis
KW - Euler angles
KW - Kinematic constraints
KW - Overconstraint
KW - Parallel manipulator
KW - Parallel robot
KW - Tait-Bryan angles
UR - http://www.scopus.com/inward/record.url?scp=85133246750&partnerID=8YFLogxK
U2 - 10.15488/12463
DO - 10.15488/12463
M3 - Conference contribution
SN - 9783031081392
T3 - Springer Proceedings in Advanced Robotics
SP - 188
EP - 197
BT - Advances in Robot Kinematics 2022
A2 - Altuzarra, Oscar
A2 - Kecskeméthy, Andrés
ER -