Kinematic analysis of the planar triangular parallel robot
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Keywords:
Planar parallel robot
recursive modeling
kinematics of robot
the theory of screws
geometry links
Adams view
Abstract
A planar 3-PRP triangular parallel robot is a special symmetrical closed-loop mechanism which has been proposed by Damien Chablat and Stefan Staicu. A recursive modeling for kinematics of this robot is presented in their paper [1]. In this research, we propose a method, based on the theory of screws for solving the kinematic analysis of this robot. Our study describes the mathematical model of the manipulator which deals with the motion of robot kinematic respect to geometry links, the matter of finding the mathematical relation between the joint variables. Finally, the mathematical modeling is verified by comparing Matlab result and Adams view simulation results.
References
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[1] Damien Chablat, Stefan Staicu, "Kinematics of A 3-PRP planar parallel robot", U.P.B. Sci. Bull., Series D, Vol. 71, No. 2, 2009.
[2] Hamid D Taghirad, "Parallel robots: mechanics and control", CRC Press, 2013.
[3] Jean Pierre Marlet, "Direct kinematics of planar parallel manipulators", Robotics and Automation, 1996
[4] V. H. Arakelianam, M. R. Smith, "Design of planar 3-DOF 3-RRR reactionless parallel manipulators", Mechatronics, Volume 18, Issue 10, December 2008, Pages 601-606
[5] Yong-Lin Kuo, Tsu-Pin Lin, Chun Yu Wu, and Tsung-Liang Wu, "Position Control of a 3-DOF 3-RRR Planar Parallel Manipulator Using Model Predictive Control", Kun Shan University Institutional Repository
[6] Raza UR-REHMAN, Stéphane CARO, Damien CHABLAT, Philippe WENGER, Multiobjective Design Optimization of 3–PRR Planar Parallel Manipulators, 20th CIRP Design conference, Apr 2010, Nantes, France. pp.1-10, 2010
[7] Nicolas Rojas and Federico Thomas, The Forward Kinematics of 3-RPR Planar Robots: A Review and a Distance-Based Formulation, IEEE Transactions on Robotics (Volume: 27, Issue: 1, Feb. 2011)
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Published
Nov 30, 2017
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How to Cite
Nguyen Phu Sinh, Nguyen Thi Hai Van. “Kinematic Analysis of the Planar Triangular Parallel Robot”. The University of Danang - Journal of Science and Technology, vol. 11, no. 120.4, Nov. 2017, pp. 59-63, https://jst-ud.vn/jst-ud/article/view/3709.
