A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability
A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability
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DOI：
10.1115/1.4041698
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发表时间：
2018-11
期刊：
影响因子：
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通讯作者：
Nicholas Baron;Andrew O. Philippides;Nicolás Rojas
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文献类型：
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作者：
Nicholas Baron;Andrew O. Philippides;Nicolás Rojas
提出了一种新型的运动冗余度平面并联机器人，该机器人具有完全并联能力。所提出的机器人操作器具有对应于基本桁架的架构，这意味着当致动器被锁定时，它不包含内部刚性结构。这也意味着它的刚性不是从更一般的架构继承来的，也不是由其他基本结构的组合产生的。所介绍的拓扑结构是从标准的3-RPR（或3-RRR）机构上的大多数运动学冗余平面并联机器人操作器的基础上出发。机器人操作器由一个移动平台组成，该移动平台通过两个RRR腿连接到基座，并通过另外两个RRR腿连接到三元连杆，该三元连杆通过被动旋转关节连接到基座。由此产生的机器人机构是运动冗余的，能够避免生产的奇异点，并具有无限的旋转能力。这种新型的机器人操作器的逆运动学和正运动学分析推导出基于距离的技术，奇异性分析是使用几何方法的基础上的性能的瞬时旋转中心。一个示例机器人机构进行了数值分析和物理测试，并报告了测试轨迹，其中末端执行器完成一个完整的周期旋转。一个链接到一个在线视频记录这样的能力，沿着避免奇点和潜在的应用，也提供了。
This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.