Forward Kinematic Analysis Research Articles

Modeling and Simulation Method of Coordinated Manipulator Based on Robotic Toolbox and ADAMS

Abstract The coordinator was an important component of the automatic ammunition loading system of large-caliber artillery. In this paper, kinematics and dynamics of a coordination manipulator with five degrees of freedom were carried out. The forward and inverse kinematics analysis and motion trajectory planning of the simplified coordination manipulator under different firing angles were carried out with Robotic Toolbox to obtain the motion parameters of angular displacement, angular velocity and angular acceleration at each driving joint of the manipulator. Using the motion parameters obtained from the trajectory planning, the inverse dynamics of the manipulator was analyzed by ADAMS, and the driving torque curves of each joint were calculated, which provided a reference for the subsequent prototype development and simulation control of the manipulator.

Design and analysis of terrestrial laser scanner based on a 3-SPR parallel mechanism for improved anti-occlusion scanning

Abstract Laser scanner technology swiftly captures point cloud data of objects and their surrounding environments, proving extensive applications across various sectors. However, it often encounters challenges related to incomplete point clouds due to occlusion from stationary objects. This paper presents a terrestrial laser scanning system based on a 3-SPR (3-Spherical Joint-Active Prismatic Joint-Rotating Joint) parallel mechanism (TLS-PM), specifically designed to enhance scanning coverage during single-station measurements, reduce positioning and workload during multi-station measurements, and mitigate point cloud gaps caused by occlusions.
Initially, a simulation model of the TLS-PM was developed, and both forward and inverse kinematic analysis were performed. Subsequently, the workspace was computed for different spherical joints using this model. An introduction to the TLS-PM’s error and the registration algorithm employed was then provided. Finally, through comparative analysis of simulations and experimental results, the device's measurement accuracy and its capability to resist occlusions were validated. Additionally, the TLS-PM’s anti-occlusion performance was evaluated under various scenarios in a simulated setting. The experimental results demonstrate that, when employing the same conventional point cloud processing algorithms, the TLS-PM significantly improves the background scanning coverage.

Kinematics analysis and simulation of bionic five-finger manipulator

Abstract To address the complexity of traditional manipulator structures, a bionic five-finger manipulator has been designed and developed. After introducing the manipulator’s structure and functionality, the kinematic model was established using the D-H parameter method, followed by the analysis of forward and inverse kinematics. The fingertip pose was derived using the homogeneous transformation formula, and the accuracy of the theoretical analysis was validated by comparing the mathematical and MATLAB simulation results. The Monte Carlo method was employed to determine the accessible motion space of the mechanical fingertip. Subsequently, trajectory planning for the manipulator was performed based on known initial and end finger angles. A comparison with ADAMS simulation results demonstrated the rationality of the mechanical finger’s movement space, stable speed, and compliance with actual grasping requirements. This study lays a theoretical foundation for the subsequent parameter optimization of the manipulator.

Visual Servo Algorithm Of Robot Arm For Pick And Place Application

The robot arm is a device consisting of a moving chain of links connected by joints. Electrical motors are frequently used to move each robot arm joint. An end-effector that can move freely in space is usually attached to one end of the robot platform, which is fixed. Robot arms can do repetitive operations at rates and precision far exceeding human operators. Nowadays, robot arm systems are widely used worldwide to increase the quality and efficiency of the manufacturing process in the industry. Typical applications of the robot arm system are assembly, painting, welding, pick and place operation, and others. Besides, many industries employ robot arms for various jobs such as selecting and putting, painting, and material handling. However, one of the most challenging issues in completing these jobs is determining the target location of the robot arm's end-effector. There are two different methods for analyzing the robot arm's movement: forward and inverse kinematic analysis. Based on the visual servo algorithm, this study uses inverse kinematics to execute the pick and place operation. First, an object recognition algorithm is implemented to identify the object to be grasped. Then, an algorithm to avoid any obstacles is done. The study's findings show that good system performance has been obtained in all three algorithms: first, object recognition algorithm, second, obstacle avoidance algorithm, and lastly, visual servobased pick and place operation. Thus, it can be concluded that the robot arm's visual servo algorithm is suitable for pick-and-place applications.

Structure design and coordinated motion analysis of bionic crocodile robot

Crocodiles, one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this study, we draw inspiration from crocodiles and design a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk joints. This design is based on comprehensive analysis of the structural and motion characteristics of real crocodiles. The bionic crocodile robot has a problem of limb-torso incoordination during movement. To solve this problem, we used the D-H method for both forward and inverse kinematics analysis of the robot’s legs and spine. Through a series of simulation experiments, we investigated the robot’s motion stability, fault tolerance, and adaptability to environments in two motor patterns: with and without spine and tail movements. The experimental results show that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the extremities. This study not only demonstrates the potential of biomimicry in robotics but also underscores the significance of understanding how nature’s designs can inform and enhance technological innovations.

Kinematics Analysis and Trajectory Planning of 6-DOF Hydraulic Robotic Arm in Driving Side Pile

Given the difficulty in manually adjusting the position and posture of the pile body during the pile driving process, the improved Denavit-Hartenberg (D-H) parameter method is used to establish the kinematics equation of the mechanical arm, based on the motion characteristics of each mechanism of the mechanical arm of the pile driver, and forward and inverse kinematics analysis is carried out to solve the equation. The mechanical arm of the pile driver is modeled and simulated using the Robotics Toolbox of MATLAB to verify the proposed kinematics model of the mechanical arm of the pile driver. The Monte Carlo method is used to investigate the working space of the mechanical arm of the pile driver, revealing that the arm can extend from the nearest point by 900 mm to the furthest extension of 1800 mm. The actuator’s lowest point allows for a descent of 1000 mm and an ascent of up to 1500 mm. A novel multi-strategy grey wolf optimizer (GWO) algorithm is proposed for robotic arm three-dimensional (3D) path planning, successfully outperforming the basic GWO, ant colony algorithm (ACA), genetic algorithm (GA), and artificial fish swarm algorithm (AFSA) in simulation experiments. Comparative results show that the proposed algorithm efficiently searches for optimal paths, avoiding obstacles with shorter lengths. In robotic arm simulations, the multi-strategy GWO reduces path length by 16.575% and running time by 9.452% compared to the basic GWO algorithm.

Forward Kinematics Analysis of High-Precision Optoelectronic Packaging Platform

Abstract To meet the requirements of high-precision motion control for optoelectronic packaging platforms, we propose an improved particle swarm optimization (PSO) and backpropagation (IPSO-BP) neural network for solving the forward kinematics problem (FKP) of platforms. The focus of this paper is the 6-pss flexible parallel platform commonly used in optoelectronic packaging. First, a platform inverse kinematics problem (IKP) based on a flexibility matrix is solved using geometric and vector analysis. The conventional PSO-BP network is then optimized utilizing uniform design (UD), a random learning strategy, and space reduction techniques in FKP. Finally, simulations and experiments demonstrate that the proposed IPSO-BP network for solving the FKP on high-precision optoelectronic packaging platforms is feasible. Compared to BP and PSO-BP, this network has a higher resolution, faster convergence speed, and error control at the submicron level, which satisfies the motion control requirements of the platform at the micron level. This study lays a solid foundation for the production of high-quality devices in optoelectronic packaging.

An Origami Continuum Manipulator with Modularized Design and Hybrid Actuation: Accurate Kinematic Modeling and Experiments

Herein, this study contributes significantly to the advancement of continuum manipulators in two main aspects. First, a modularization concept and a hybrid actuation scheme to create a novel origami continuum manipulator with exceptional deformability are introduced. Second, an accurate model and framework for the forward and inverse kinematic analysis of origami manipulators are proposed. Specifically, each origami manipulator module can achieve axial extension and bending deformation by coordinated actuation of shape memory alloy (SMA) and pneumatic muscles, and the manipulator's end is equipped with a deformable gripper based on waterbomb origami and actuated by SMA. Through careful consideration of the self‐weight and torque balance, an accurate kinematic model based on the Denavit–Hartenberg method is established, which enables one to effectively predict the reachable extreme positions and spatial poses of the manipulator and solve the inverse kinematics using a genetic algorithm. Comprehensive experiments are conducted to validate the design's rationality and model's accuracy . In these tests, the rich spatial configurations are not only demonstrated that can be achieved by integrating hybrid actuators with origami modules but also the accuracy and reliability of the kinematic model are confirmed, opening up possibilities for the advancement and application of origami‐inspired robotics in various fields.

Kinematics and singularity analysis of a novel hybrid industrial manipulator

AbstractThis paper proposes a new type of hybrid manipulator that can be of extensive use in industries where translational motion is required while maintaining an arbitrary end-effector orientation. It consists of two serially connected parallel mechanisms, each having three degrees of freedom, of which the upper platform performs a pure translational motion with respect to the mid-platform. Closed-form forward and inverse kinematic analysis of the proposed manipulator has been carried out. It is followed by the determination of all of its singular configurations. The theoretical results have been verified numerically, and the 3D modeling and simulation of the manipulator have also been performed. A simple optimal design is presented based on optimizing the kinematic manipulability, which further demonstrates the potential of the proposed hybrid manipulator.

Composite Forming Technology for Braiding Grid-Enhanced Structures and Design of a New Weaving Mechanism

Three-dimensional weaving structures have high strength and resistance to interlayer shear due to their integrated manufacturing features. The traditional weaving equipment is generally huge and is not effective for weaving small-sized products. Therefore, this paper proposes a new composite forming technology and weaving mechanism based on grid-enhanced structures to braid small-sized preforms, combining the continuous fiber printing technology, the rope drive technology and the 3D weaving technology. This paper adopted the screw theory for forward and inverse kinematic analysis of the weaving mechanism and applied software Adams2020 for trajectory simulation analysis. The theoretical calculation results were basically consistent with the simulation results, which verified the rationality and feasibility of the designed weaving mechanism in small, enhanced grids.

Design of the five-bar linkage with singularity-free workspace

AbstractThis paper shows the kinematic analysis and the synthesis of the five-bar linkage with symmetrical structure and singularity-free dexterous workspace. The type synthesis of the five-bar linkage shows that the number of symmetrical structures of five-bar linkage is limited to eight structures. This study deals with the forward and inverse kinematic analysis and synthesis of the five-bar structure 5-RRRRR. The synthesis equations allow the analytical computation of the link lengths of a symmetrical five-bar linkage using only revolute joints to avoid the singularities in an imposed dexterous workspace. A numerical example of the symmetrical five-bar linkage is analyzed and synthetized theoretically and characterized by computing the performance indices. The tests on an experimental model of the five-bar linkage 5-RRRRR confirm the singularity-free dexterous workspace.

Two-Position Synthesis of the Four-Bar Planar Linkage Mechanisms Using Artificial Neural Networks

The four-bar linkage mechanism is a fundamental and widely recognized mechanism with diverse applications, including various vehicle components, rehabilitation robotics, and rotary and reciprocating engines. Traditional textbooks introduce graphical and analytical solutions for the kinematic synthesis problem of the four-bar mechanism in different positions, while research articles explore its applications in various fields. Recently, artificial neural network (ANN) methods have gained popularity across different research domains. Researchers have proposed different solution approaches using ANN algorithms for the inverse and forward kinematic analysis problems of these mechanisms. However, the specific use of ANN algorithms for solving the two-position kinematic synthesis problem of the four-bar planar linkage mechanism has not been explored yet. This study aims to address this gap by introducing a solution for the two-position kinematic synthesis problem of the four-bar planar linkage mechanism using an artificial neural network algorithm. The Levenberg-Marquardt backpropagation neural network algorithm is chosen due to its speed, combination of Gauss-Newton training algorithm and steepest descend method, and ability to provide stable convergence of the training error. The neural network algorithm is trained, validated, and tested using a total of 50 randomly split data sets. Additionally, an additional test is conducted using all 50 data sets to evaluate the performance of the trained neural network algorithm. The study presents and discusses the results of the artificial neural network algorithm solution.

A Decoupling Method Based on Equivalent Mechanism Analysis for Motion Measurements of Human Multi-DOF Joints by Using Wearable Strain Sensors

Wearable soft strain sensors are widely used in the measurement of human joint motion in the fields of medical, animation, sports, and exoskeleton. However, for the multi-degree-of-freedom (multi-DOF) joints of the human body, the measurement precision is still low due to the coupled effect that the signal of wearable sensors is from all the joint sub-motions. Here, we proposed a decoupling method to improve the precision of the wearable sensor information on multi-DOF joints. The main idea of the method is to transform the measurement into the forward kinematic analysis of an equivalent mechanism, where the deformation of the strain sensor is equivalent to a sliding pair of the mechanism. Experiments demonstrate that the proposed method has strong adaptability to different human motions: in walking, the dynamic measurement errors of ankle dorsiflexion/plantarflexion, adduction/abduction, and inversion/eversion are 0.95°, 1.10°, and 0.50° (5.28%, 6.89%, and 5.78%) respectively; in a mixed pattern of walking, stepping and squatting, the errors are 0.85°, 1.48°, and 0.57° (2.70%, 8.87%, and 6.55%) respectively. The proposed method has the advantage in measurements of multi-DOF joint motion, especially in the motion coexisting with various patterns.

최소침습 골절정복 수술에서 나사못 삽입 경로를 유도하는 시스템

In this paper, we propose a system to detect the location and direction of locking screw insertion using only a fluoroscopic image and guide screw insertion path, with a device that combines a SCARA robot arm and a conical remote center-of-motion (RCM) mechanism. In the proposed system, the target location and direction for screw insertion were derived from the fluoroscopic image of an intramedullary nail. The insertion guidance device comprise the SCARA robot arm and the RCM mechanism. The insertion guidance device calculated the current indicated path through forward kinematics analysis, and the target path and the current path were transmitted to the orthopedic surgeon through the control program. Moreover, the insertion guidance device set the insertion position and direction independently. The orthopedic surgeon first adjusted the SCARA robot arm to match the insertion position value to the target value and then sequentially adjusted the RCM mechanism so that the insertion direction matched the target value. After determining the insertion position and direction, the orthopedic surgeon inserted the surgical instrument through the path guided by the insertion guidance device and fastened the screw to the bone fragments and the intramedullary nail. When the proposed screw insertion guidance system was applied to fracture surgery, the locking screw was fastened with a minimum number fluoroscopic image, thus reducing surgery time and radiation exposure. The validity of the proposed method was confirmed through simulations and experiments using a fracture model.

Analysis of Forward Kinematics of 2R Robotic Arm

In Kinematics, the analysis of acceleration and velocity is usually done whereas the forces are neglected. The machine’s smallest unit is the link, which is akin to a cell in the human body. Robotics is built on the foundation of machines. A pair is established by the combination of links which leads to the construction of linkage. A mechanical linkage is a collection of bodies that are connected to control forces and movement. The combination of linkage (also known as Mechanism) generates Machine. The robot’s kinematics equations are used in robotics, video games and animation. Inverse kinematics is the mathematical process of determining variable joint parameters necessary to place an object at the end of a kinematic chain in a specific position and orientation with respect to the start of the chain, such as robot manipulator or skeleton of an animated character. The role of Forward and Inverse Kinematics in a 2R Robotic Arm are studied with successful demonstrations. Forward Kinematics of a 2R Robotic Arm using Matlab and Python confirming similar results are exhibited (Figure 8 and Figure 9). Matlab illustrated 2D Path Tracing for 2R Robotic Arm with Inverse Kinematics. Finally, inverse kinematics of 2R Robotic Arm in Matlab using fuzzy logic is modelled successfully. Thus, it helps in the understanding of kinematics and can be used in the simulation of machines.

Design And Implementation Of Pose Recording System With Denavit Hartenberg Method In A 6-Dof Robot Rotaric

Robot developments have been integrated into several industrial and home appliances. To keep up with the development, UNIKA Atma Jaya created a group called PATRIOT as a head start, and started the development on ROTARIC robot. One of the early robot research discussed in this paper is to design and implement ROTARIC 6-DOF robot pose recording system which is drawn using forward kinematics with Denavit Hartenberg method. The system has a GUI with several function inside such as robot pose recording, 2-D display of the robot recorded pose using Forward Kinematics analysis, and playback recorded pose. The system uses several hardware that have been connected serially such as 6 Dynamixel MX-28 servo, OpenCM 9.04 +485 EXP microcontroller, and a Computer. The Software used in the system is C# .NET with WinForms App as the GUI and Arduino IDE. From the test done in this research, the recording and 2-D drawing system achieved error <±1cm or 6.67% relative error caused by the resolution value while reading the servo position sensor and the value rounding inside the program. Meanwhile, the playback recording function that uses queue system achieved error of <±1cm and error of ±5cm or 33.3% relative error when the recorded pose is played using real time delay used in recording. The error is caused by the robot failure to keep up with the speed of the recorded pose and the limited torque in servo number 2 in the robot.

Non-contact Storage Classification Based on Mechanical Arm in the Context of Prevention and Treatment of COVID-19

COVID-19 has become a global infectious disease, which has a high transmission rate, a wide transmission range, and a variety of transmission modes. Therefore, to reduce the transmission efficiency of COVID-19, human beings try to reduce the manpower ratio to create a non-contact environment in the industry. Therefore, a new model is proposed in this paper. This new model aims to be applied to storage classification in the context of the prevention and treatment of COVID-19 by using the mechanical robot arm. This model will use the UR3 robot arm, Logitech C300 web camera, and OpenCV public repository to implement the computer vision algorithm, and forward and inverse kinematics analysis. This model can successfully implement non-contact storage classification. Through the real experiment, this paper has a good application prospect. It gives a new solution for future research and experiment. In addition, in the summary and outlook part of this paper, new research directions in the future are given.

Modeling and Simulation for a Five DOF Robotic Arm Manipulator

Nowadays, service robots are used in a large number of applications in the service industry. With the booming service industry in third world countries, service robots are expected to be used in a wider range of applications, so it is of great importance to conduct research on service robots. This paper develops the model of a kinematic models for a 5 DOF robotic arm that used in service industry in SolidWorks. The robotic arm’s mathematical model is predicated on Denavit-Hartemberg (DH) method, which determine the robot joints angle vector. The procedure aims at describing the forward and inverse kinematic analysis, and finally determine the end effector’s position and orientation through the corresponding joints angle related to the coordinate system (CS), in order to control the robotic arm to reach the designated location in space. A simulation model of the robotic arm was built using the Matlab Robotics Toolbox to verify the correctness of forward and inverse kinematics, which also can simplify the calculation and analysis.

Design and Testing of an End-Effector for Tomato Picking

Based on the structural shortage of an agricultural labor force and the continuous increase in tomato planting scale in China, as well as the limitation of a greenhouse working environment on the development of tomato picking productivity, a motor-driven end-effector for a tomato picking robot based on a hybrid force/position control strategy was designed. First, a hybrid force/position control strategy was applied to control the picking process. Consistent with this strategy, the mechanical structure design of the end-effector was determined. The maximum torque of the finger joint motor was verified by applying a load to the end-effector fingertip under a parabolic linear angular velocity. Second, the D-H method was used to establish the end-effector single-finger and whole-hand coordinate systems and to perform forward and inverse kinematic analysis. The Monte Carlo method was used to analyze the workspace of the end-effector, and an isochronous interpolation algorithm was used to analyze the angular displacement of the motor. A basic algorithm for starting, stopping and accelerating the finger joints was designed to achieve the smooth movement of the end-effector. The control system for the end-effector was designed based on STM32F103ZET6, and the end-effector remote wireless debugging system was designed based on Tiny6410. Finally, a test prototype of the tomato picking end-effector was manufactured and picking tests were conducted, which showed that our tomato picking end-effector moved smoothly. The proposed control algorithm reduced the impact force and recorded the contact force between the end-effector and the tomato in real time, and the end-effector essentially achieved nondestructive picking. Therefore, our tomato picking end-effector demonstrated good utility in practice.

Kinematics analysis and simulation of 2-CRS-S' parallel mechanism

A 2-CRS-S ' parallel mechanism is proposed in this paper. The parallel mechanism consists of a static platform, two identical driving branches, a moving platform and a fixed branch, with two rotational degrees of freedom on the X and Y axes. Taking the driving branch chain in the mechanism as the research object, the inverse kinematics analysis of the parallel mechanism is carried out by using the D-H analysis method, and on this basis, the forward kinematics analysis of the structure is carried out by combining the particle swarm optimization algorithm. Finally, the Adams software is used to simulate and analyze the mechanism, and the motion angle curve of the moving platform of the mechanism is obtained, which verifies the correctness of the theoretical analysis. The obtained motion angle curves show regular periodic changes, and the curves have no breakpoints and mutations, indicating that the mechanism runs smoothly during the movement and has good kinematic performance.