Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints | Zendy

Mohsen Moradi Dalvand | Zendy; Bijan Shirinzadeh | Zendy

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Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints

Author(s) -

Mohsen Moradi Dalvand,

Bijan Shirinzadeh

Publication year - 2012

Publication title -

international journal of intelligent mechatronics and robotics

Language(s) - English

Resource type - Journals

eISSN - 2156-1664

pISSN - 2156-1656

DOI - 10.4018/ijimr.2012010102

Subject(s) - kinematics , inverse kinematics , offset (computer science) , kinematics equations , forward kinematics , parallel manipulator , control theory (sociology) , computer science , inverse , robot kinematics , robot , mathematics , geometry , artificial intelligence , physics , classical mechanics , control (management) , mobile robot , programming language

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies

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