Direct and inverse kinematic problems of tripod-type parallel manipulator

Baurzhan Nurakhmetov,Zhanat Myrzageldiyeva,Kuanyshbek Sartayev

doi:10.5755/j01.mech.25.5.19523

Baurzhan Nurakhmetov, Zhanat Myrzageldiyeva + Show 1 more

Open Access

https://doi.org/10.5755/j01.mech.25.5.19523

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Journal: Mechanics	Publication Date: Oct 22, 2019
License type: cc-by

Affiliation: Almaty Technological University

Abstract

The purpose of the work is to study the structural features of the tripod-type parallel manipulator as well as to solve direct and inverse kinematic problems for such a manipulator. The developed algorithms and computer-generated programs for synthesis and analysis of the tripod-type parallel manipulator are useful for designing spatial mechanisms with parallel kinematics with many degrees of freedom, with an arbitrary number of edges and an arbitrary arrangement of segments with different kinematic pairs that can be used in many ways. For example, the foregoing can be used in machine processing of the inner surfaces of the cavities of complex shape, during maintenance and reclamation work in pipeline, during surgical operations in medicine etc.

Highlights

Unmanned aerial vehicle (UAV) platforms are a potential option for collecting near-earth data in real time [1,2,3]
UAV technology has matured from many years of using UAVs as hobby aircraft [4,5]
This article is devoted to the process of building a theory and mathematical model of such a manipulator optimized for creating a gimbal for a UAV camera

Summary

Introduction

Unmanned aerial vehicle (UAV) platforms are a potential option for collecting near-earth data in real time [1,2,3]. The main disadvantage of using drones in aerial photography is their small size and low weight. These characteristics, make the drones attractive in terms of cheap production. Flexibility in application results in problems with the image quality, since the light device is extremely susceptible to vibrations. Even a stabilized camera captures and transmits an image that is not completely “clean”. As a solution to this problem, we propose to use a gimbal based on a tripod-type parallel manipulator. This article is devoted to the process of building a theory and mathematical model of such a manipulator optimized for creating a gimbal for a UAV camera

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