A novel three axis Semi Elliptic Manipulator Configuration for simultaneous Multi Point Operations

Abstract

A new three axes robotic configuration named as “Semi Elliptic Configuration” has been explored here. The configuration’s topology, working principle, forward kinematics, inverse kinematics and application have been described in this article. The inverse and forward kinematic equations have been derived using more fundamental mathematical tools like plane coordinate geometry, trigonometry and properties of triangles instead of using DH parameters, Transformation and Jacobian matrices. The configuration’s name has been derived from the unconventional geometry of the work volume within which it operates. Unlike the cubically shaped work volume of a typical XYZ Cartesian robotic configuration, its shape has been warped towards the edge containing the vertical Z-axis. It was found that the edges enclosing the face opposite to the Z-axis is part of an Ellipse. Two mutually perpendicular co-planar arms originating from the Z-axis enclose the semi elliptic boundary. Two manipulators of such configuration could be accommodated and be made to work independently within the cubical volume occupied by the perpendicular arms. It was found that the configuration’s work volume leaves a void region within the volume of occupancy of the configuration’s structure, which proved to be a disadvantage in certain applications and an advantage in others. An enhancement has been proposed to work around this restriction. The modification allows the configuration to expand its work volume into the void regions. The superior version of the Semi elliptic configuration was named “Enhanced Semi Elliptic Configuration”.