Kinematics analysis of a parallel robot with a passive segment
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| Formato: | Artículo científico |
| Lenguaje: | en |
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Universidad de Tarapacá
2007
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| _version_ | 1876435186583863296 |
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| author | Abdelhakim Cherfia |
| author_facet | Abdelhakim Cherfia |
| contents | Kinematics analysis of a parallel robot with a passive segment Abdelhakim Cherfia Abdelouahab Zaatri Max Giordano Ingeniería workspace singularity passive segment Jacobian matrix Geometrical model This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passivecentral segment. This structure provides a pure translation motion. We will also determine the relations between generalizedand articular velocities by using the inverse Jacobian matrix. Further, we determine the reciprocal relations betweencartesian and angular velocities of the end-effector via articular velocities by simple derivation of the direct geometricalmodel expressions. A determination of the workspace based on the geometrical model analysis is derived followed by anumerical calculation of all the atteignables points enabling a graphical visualisation of such a workspace. Moreover, theanalysis of the Jacobian matrix has permitted to ensure that there are no singularities of type 1 and 2 in such a structure.A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models 2007 artículo científico 0718-3291 https://www.redalyc.org/articulo.oa?id=77215204 en http://www.redalyc.org/revista.oa?id=772 Ingeniare. Revista Chilena de Ingeniería application/pdf Universidad de Tarapacá Ingeniare. Revista Chilena de Ingeniería (Chile) Num.2 Vol.15 |
| format | Artículo científico |
| id | redalyc_77215204 |
| institution | Redalyc |
| language | en |
| publishDate | 2007 |
| publisher | Universidad de Tarapacá |
| spellingShingle | Kinematics analysis of a parallel robot with a passive segment Abdelhakim Cherfia Ingeniería workspace singularity passive segment Jacobian matrix Geometrical model Kinematics analysis of a parallel robot with a passive segment Abdelhakim Cherfia Abdelouahab Zaatri Max Giordano Ingeniería workspace singularity passive segment Jacobian matrix Geometrical model This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passivecentral segment. This structure provides a pure translation motion. We will also determine the relations between generalizedand articular velocities by using the inverse Jacobian matrix. Further, we determine the reciprocal relations betweencartesian and angular velocities of the end-effector via articular velocities by simple derivation of the direct geometricalmodel expressions. A determination of the workspace based on the geometrical model analysis is derived followed by anumerical calculation of all the atteignables points enabling a graphical visualisation of such a workspace. Moreover, theanalysis of the Jacobian matrix has permitted to ensure that there are no singularities of type 1 and 2 in such a structure.A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models 2007 artículo científico 0718-3291 https://www.redalyc.org/articulo.oa?id=77215204 en http://www.redalyc.org/revista.oa?id=772 Ingeniare. Revista Chilena de Ingeniería application/pdf Universidad de Tarapacá Ingeniare. Revista Chilena de Ingeniería (Chile) Num.2 Vol.15 |
| title | Kinematics analysis of a parallel robot with a passive segment |
| topic | Ingeniería workspace singularity passive segment Jacobian matrix Geometrical model |
| url | https://www.redalyc.org/articulo.oa?id=77215204 |