Kinematic Analysis of Parallel 3-RPS Manipulator

• Autorzy: Wilczyński D. , Auguściński A. , Talaśka K.
• Konferencja: International Conference on Modelling and Simulation of the Friction Phenomena in the Physical and Technical Systems "FRICTION 2008" (5 ; 31.05-1.06.2008 ; Warsaw, Poland) ; French-Polish Seminar of Mechanics (16 ; 31.05-1.06.2008 ; Warsaw, Poland)
• Języki publikacji: EN

Abstrakty

EN

There was solved a problem of inverse kinematics of parallel manipulator - tripod type (3RPS). Above relationships allow to calculate the length l of kinematic pairs with variable length - P type. Solving above system of equations one can solve a problem of inverse kinematics of similar parallel structures to presented ones in this work. Relationships can be used to create control algorithm of parallel mechanism. Simulations of equations (5), (6) and (7) were performed in LabVIEW software. Verification of equations will be conducted after development of physical model of manipulator and control algorithm with usage of these equations.

Słowa kluczowe

EN

machine dynamics; machine kinematics; industrial robot; manipulator; manipulator motion

PL

kinematyka maszyn; dynamika maszyn; robot przemysłowy; manipulator; ruch manipulatora

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Problems
• Rocznik: 2008
• Tom: Vol. 32, No. 2
• Strony: 104--108
• Opis fizyczny: Bibliogr. 6 poz., rys.

Twórcy

autor

Wilczyński D.

autor

Auguściński A.

autor

Talaśka K.

• Poznan University of Technology. Chair of Basic of Machine Design ,

Bibliografia

• Dasgupta, B., Mruthyunjaya, T.S., 2000, The Stewart platform manipulator: a review, Mechanism and Maschine Theory, 35, 15-40.
• Lee, K.-M., Shah, D.K., 1987, Kinematic Analysis of a Three Degrees of Freedom In-Parallel Actuated Manipulator, Proceedings of the IEEE International Conference on Robotics and Automation, 1, 351-357.
• Sherman, B.Z.M., Lang, Y.T., 2006, Kinematic and Dynamic Models of a Tripod System with a Passive Leg, IEEE/ASME Transactions on Mechatronics, 11.
• Terrier, M., Dugas, A., Hascoet, J.-Y., 2004, Qualification of parallel kinematics machines in high-speed milling on free form surfaces, International Journal of Machine Tools & Manufacture, 44, 865-877.
• Week, M., Staimer, D., 2002, Parallel Kinematic Machine Tools - Current State and Future Potentials, Annals of the CIRP, 51, 2, 671-681.
• Wrotny, L.T., 1998, Tasks from kinematics and dynamics of technological machines and industrial robots (original title in Polish: Zadania z kinematyki i dynamiki maszyn technologicznych i robotów przemysłowych), Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa.