Kinematics and Workspace of a Spatial 3-DoF Manipulator with Anti-parallelogram joints

被引：0

作者：

Muralidharan, Vimalesh ^{[1
]}

Chevallereau, Christine ^{[1
]}

Wenger, Philippe ^{[1
]}

机构：

[1] Nantes Univ, CNRS, UMR 6004, Ecole Cent Nantes,LS2N, F-44000 Nantes, France

来源：

ADVANCES IN ROBOT KINEMATICS 2024, ARK 2024 | 2024年 / 31卷

关键词：

Anti-parallelogram joint; spatial manipulator; inverse kinematics; workspace; ROBOT;

D O I：

10.1007/978-3-031-64057-5_5

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper introduces a novel spatial serial manipulator composed of three anti-parallelogram (X) joints arranged in two perpendicular planes and separated by offsets. The position of a point on the terminal link is controlled through the three joint angles. The inverse kinematic problem is solved analytically by decomposing it into two planar sub-problems. It is shown that this problem admits up to thirty-two solutions, and an example with these many solutions is presented. The singularities of this manipulator are derived and interpreted geometrically. Finally, the workspace of this manipulator accounting for the joint limits of each X-joint is visualized.

引用

页码：32 / 42

页数：11

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