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A novel kinematically redundant planar parallel robot manipulator with full rotatability
journal contribution
posted on 2023-06-09, 16:48 authored by Nicholas Baron, Andy PhilippidesAndy Philippides, Nicolas RojasThis 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.
History
Publication status
- Published
File Version
- Accepted version
Journal
Journal of Mechanisms and RoboticsISSN
1942-4302Publisher
American Society of Mechanical EngineersExternal DOI
Issue
1Volume
11Page range
011008 1-8Department affiliated with
- Informatics Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2019-02-11First Open Access (FOA) Date
2019-11-13First Compliant Deposit (FCD) Date
2019-02-08Usage metrics
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