Abstract
This work reports on the kinematic analysis of a planar parallel manipulator endowed with a configurable platform assembled with six terminal links serially connected by means of revolute joints. This topology allows the robot manipulator to dispose of three relative degrees of freedom owing to the mobility of an internal closed-loop chain. Therefore, the proposed robot manipulator can admit three end-effectors. The forward displacement analysis of the configurable planar parallel manipulator is easily achieved based on unknown coordinates denoting the pose of each terminal link. Thereafter, the analysis leads to twelve quadratic equations which are numerically solved by means of the Newton homotopy method. Furthermore, a closed-form solution is available for the inverse position analysis. On the contrary, the instantaneous kinematics of the robot manipulator is investigated by means of the theory of screws. Numerical examples are included with the purpose to illustrate the method of kinematic analysis.
Highlights
A typical parallel manipulator (PM) consists of a rigid moving platform connected to a fixed platform by means of two or more kinematic chains
It is worth clarifying that the concept of a configurable platform differs from the concepts of reconfigurable parallel manipulator [2, 3] and foldable platform [4]; e.g., a foldable platform must be considered as a collapsible platform instead of an internal closed-loop chain. erefore, the history of PMs with configurable platforms is relatively short
E main contributions of the paper may be summarized as follows: (i) the topology of a kinematically redundant fully parallel planar manipulator equipped with a configurable platform is introduced, (ii) the availability of three internal freedoms of the robot manipulator allows to dispose of two or three end-effectors, (iii) simultaneous tasks may be achieved by the robot due to the existence of multiple end-effectors, (iv) the method introduced to solve the finite kinematics of the robot allows to find all the real solutions of the inverseforward position analyses, and (v) the instantaneous kinematics of the robot is performed by resorting to the theory of screws enhancing the corresponding Jacobian matrices
Summary
A typical parallel manipulator (PM) consists of a rigid moving platform connected to a fixed platform by means of two or more kinematic chains. E idea to develop robot manipulators with the ability to configure an internal closed-loop chain substituting the typical rigid moving platform is without doubt a genuine concept that can encourage the creativity of the generation of robots with parallel kinematic structures. E main contributions of the paper may be summarized as follows: (i) the topology of a kinematically redundant fully parallel planar manipulator equipped with a configurable platform is introduced, (ii) the availability of three internal freedoms of the robot manipulator allows to dispose of two or three end-effectors, (iii) simultaneous tasks may be achieved by the robot due to the existence of multiple end-effectors, (iv) the method introduced to solve the finite kinematics of the robot allows to find all the real solutions of the inverseforward position analyses, and (v) the instantaneous kinematics of the robot is performed by resorting to the theory of screws enhancing the corresponding Jacobian matrices
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