Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory
A kinematic and workspace analysis of Spherical 3-RRR Coaxial Parallel Robot are developed in this paper. Position and orientation was determined through the inverse and forward kinematics using geometric and numerical method, respectively. Velocity state and screw-coordinate Jacobian matrix was dev...
- Autores:
-
Marrugo, D.
Vitola, A.
Villa Ramírez, José Luis
Rodelo, M.
- Tipo de recurso:
- Fecha de publicación:
- 2020
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/9991
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/9991
https://ieeexplore.ieee.org/document/9290317
- Palabra clave:
- Kinematics
Parallel Robots
Workspace
Screw Theory
Trajectory
- Rights
- closedAccess
- License
- http://purl.org/coar/access_right/c_14cb
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| dc.title.spa.fl_str_mv |
Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory |
| title |
Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory |
| spellingShingle |
Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory Kinematics Parallel Robots Workspace Screw Theory Trajectory |
| title_short |
Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory |
| title_full |
Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory |
| title_fullStr |
Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory |
| title_full_unstemmed |
Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory |
| title_sort |
Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory |
| dc.creator.fl_str_mv |
Marrugo, D. Vitola, A. Villa Ramírez, José Luis Rodelo, M. |
| dc.contributor.author.none.fl_str_mv |
Marrugo, D. Vitola, A. Villa Ramírez, José Luis Rodelo, M. |
| dc.subject.keywords.spa.fl_str_mv |
Kinematics Parallel Robots Workspace Screw Theory Trajectory |
| topic |
Kinematics Parallel Robots Workspace Screw Theory Trajectory |
| description |
A kinematic and workspace analysis of Spherical 3-RRR Coaxial Parallel Robot are developed in this paper. Position and orientation was determined through the inverse and forward kinematics using geometric and numerical method, respectively. Velocity state and screw-coordinate Jacobian matrix was developed based on Screw theory. Likewise, the workspace and reciprocal index as a measure of the robot's sensibility, were calculated for a developed trajectory by track with the end-effector. The simulations were performed using MATLAB environment, and the results provides that, for the path planning created, the inverse and forward kinematics are good in agreement. Where the robot remains in the workspace with high accuracy, with errors not exceeding 15×10−4 rad. Furthermore, the sensibility analysis computed with the reciprocal index shown that this type of parallel robots are efficient inside their workspace, even at points close to the singularity. |
| publishDate |
2020 |
| dc.date.issued.none.fl_str_mv |
2020-12-24 |
| dc.date.accessioned.none.fl_str_mv |
2021-02-15T15:52:04Z |
| dc.date.available.none.fl_str_mv |
2021-02-15T15:52:04Z |
| dc.date.submitted.none.fl_str_mv |
2021-02-12 |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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info:eu-repo/semantics/lecture |
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http://purl.org/coar/resource_type/c_8544 |
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publishedVersion |
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D. Marrugo, A. Vitola, J. L. Villa and M. Rodelo, "Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory," 2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA), Cartagena de Indias, Colombia, 2020, pp. 1-6, doi: 10.1109/CIIMA50553.2020.9290317. |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/20.500.12585/9991 |
| dc.identifier.url.none.fl_str_mv |
https://ieeexplore.ieee.org/document/9290317 |
| dc.identifier.doi.none.fl_str_mv |
10.1109/CIIMA50553.2020.9290317 |
| dc.identifier.instname.spa.fl_str_mv |
Universidad Tecnológica de Bolívar |
| dc.identifier.reponame.spa.fl_str_mv |
Repositorio Universidad Tecnológica de Bolívar |
| identifier_str_mv |
D. Marrugo, A. Vitola, J. L. Villa and M. Rodelo, "Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory," 2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA), Cartagena de Indias, Colombia, 2020, pp. 1-6, doi: 10.1109/CIIMA50553.2020.9290317. 10.1109/CIIMA50553.2020.9290317 Universidad Tecnológica de Bolívar Repositorio Universidad Tecnológica de Bolívar |
| url |
https://hdl.handle.net/20.500.12585/9991 https://ieeexplore.ieee.org/document/9290317 |
| dc.language.iso.spa.fl_str_mv |
eng |
| language |
eng |
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info:eu-repo/semantics/closedAccess |
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closedAccess |
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6 páginas |
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application/pdf |
| dc.publisher.place.spa.fl_str_mv |
Cartagena de Indias |
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2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) |
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Universidad Tecnológica de Bolívar |
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Marrugo, D.3310dd07-7c04-423b-be09-234ad9f0dbc1Vitola, A.51cd21b6-d8a0-4f88-b0a5-0daa3174e9c0Villa Ramírez, José Luis7f838bea-e596-45e5-a1f2-6351e6af6299Rodelo, M.5a35a50f-392b-43ea-b5cd-69ca72b760ff2021-02-15T15:52:04Z2021-02-15T15:52:04Z2020-12-242021-02-12D. Marrugo, A. Vitola, J. L. Villa and M. Rodelo, "Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory," 2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA), Cartagena de Indias, Colombia, 2020, pp. 1-6, doi: 10.1109/CIIMA50553.2020.9290317.https://hdl.handle.net/20.500.12585/9991https://ieeexplore.ieee.org/document/929031710.1109/CIIMA50553.2020.9290317Universidad Tecnológica de BolívarRepositorio Universidad Tecnológica de BolívarA kinematic and workspace analysis of Spherical 3-RRR Coaxial Parallel Robot are developed in this paper. Position and orientation was determined through the inverse and forward kinematics using geometric and numerical method, respectively. Velocity state and screw-coordinate Jacobian matrix was developed based on Screw theory. Likewise, the workspace and reciprocal index as a measure of the robot's sensibility, were calculated for a developed trajectory by track with the end-effector. The simulations were performed using MATLAB environment, and the results provides that, for the path planning created, the inverse and forward kinematics are good in agreement. Where the robot remains in the workspace with high accuracy, with errors not exceeding 15×10−4 rad. Furthermore, the sensibility analysis computed with the reciprocal index shown that this type of parallel robots are efficient inside their workspace, even at points close to the singularity.6 páginasapplication/pdfeng2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theoryinfo:eu-repo/semantics/lectureinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_8544http://purl.org/coar/version/c_970fb48d4fbd8a85KinematicsParallel RobotsWorkspaceScrew TheoryTrajectoryinfo:eu-repo/semantics/closedAccesshttp://purl.org/coar/access_right/c_14cbCartagena de IndiasInvestigadoresJ. Pradipta, M. Klunder, M. Weickgenannt and O. Sawodny, Develop-ment of a pneumatically driven flight simulator stewart platform using motion and force control, pp. 158-163, 2013.J. Ortega and M. Sigut, "Prototipo de una plataforma m6vil de bajo coste para simulaci6n de vuelo de alto realismo", Revista Iberoamericana de Automdtica e Informatica industrial, vol. 13, no. 3, pp. 293-303, 2016.S. Sadeqi, S. Bourgeois, E. Park and S. Arzanpour, "Design and performance analysis of a 3-RRR spherical parallel manipulator for hip exoskeleton applications", Journal of Rehabilitation and Assistive Technologies Engineering, vol. 4, pp. 205566831769759, 2017.T. Barz, A. Sommer, T. Wilms, P. Neubauer and M. Cruz Bournazou, "Adaptive optimal operation of a parallel robotic liquid handling station", IFAC Proceedings Volumes, vol. 51, pp. 765-770, 2018.K. Duarte, C. Borras and H. Vacca Visión Electrónica, "Generalidades de robots paralelos", Visión electronica, vol. 10, no. 06, 2016.J. Enferadi and A. Shahi, "On the position analysis of a new spherical parallel robot with orientation applications", Robotics and Computer-Integrated Manufacturing, vol. 37, pp. 151-161, 2016.B. Gherman, N. Plitea and D. Pisla, An innovative parallel robotic system for transperineal prostate biopsy, pp. 421-429, 2017.J. Yang, F. Gao and W. Guo, Classification of motion patterns for robot manipulators, pp. 54-57, 2009."Design and transmission analysis of an asymmetrical spherical parallel manipulator", Mechanism and Machine Theory, vol. 94, pp. 119-131, 2015."Hand fractures: A review of current treatment strategies", The Journal of Hand Surgery, vol. 38, no. 5, pp. 1021-1031, 2013.O. Mahdizadeh, A. Z. Meymand, M. Mollahossein and S. A. A. Moosavian, Kinematics and dynamics modeling of spherical parallel manipulator, pp. 406-412, 2018.T. Zhang, B. Li, D. Wang, L. Ma and X. Zhao, Kinematic analysis and its applications of a novel spherical parallel manipulator, pp. 1309-1312, 2016.Shaoping Bai and M. R. Hansen, Evaluation of workspace of a spherical robotic wrist, pp. 1-6, 2007.S. H. Mirmohammad, A. Yousefi-Koma and S. S. Mohtasebi, Direct kinematics of a three revolute-prismatic-spherical parallel robot using a fast homotopy continuation method, pp. 410-415, 2016.Y. Wang, S. Fan, X. Zhang, G. Lu and G. Zhao, Kinematics and singularity analysis of a 3-rps parallel mechanism, pp. 1348-1351, 2017."Design and kinematic analysis of a 3-rrr spherical parallel manipulator reconfigured with four-bar linkages", Robotics and Computer-Integrated Manufacturing, vol. 56, pp. 55-65, 2019.Y. B. Li and Z. L. Jin, Static analysis and design of a 3-dof spherical parallel manipulator, pp. 1-4, 2008.G. Wu, H. Dong, D. Wang and S. Bai, A 3-rrr spherical parallel manipulator reconfigured with four-bar linkages, pp. 1-7, 2018.A. Niyetkaliyev and A. Shintemirov, An approach for obtaining unique kinematic solutions of a spherical parallel manipulator, pp. 1355-1360, 2014.I. Tursynbek, A. Niyetkaliye and A. Shintemirov, Computation of unique kinematic solutions of a spherical parallel manipulator with coaxial input shafts, pp. 1524-1531, 2019.I. A. Bonev, D. Chablat and P. Wenger, Working and assembly modes of the agile eye, pp. 2317-2322, 2006.R. Sanchez-Alonso, J.-J. Gonzalez-Barbosa, E. Castillo Castaneda and M. Garcia-Murillo, "Analisis cinematico de un novedoso robot paralelo reconfigurable", Revista Iberoamericana de Automdtica e Informatica Industrial RIAI vol. 13, vol. 04, pp. 247-257, 2016.J. Gallardo-Alvarado, Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory, vol. 06, 2016.J. Gallardo-Alvarado, J. Rico and M. Caudillo-Ramirez, "Analisis cinernatico directo de un manipulador paralelo esferico asimetrico", lngenieria Investigacion y Tecnologia, vol. 7, no. 12, 2006.M. Rodelo, J. L. Villa, J. Duque and E. Yime, Kinematic analysis and performance of a planar 3rrr parallel robot with kinematic redundancy using screw theory, pp. 1-6, 2018.S. Valeria and P. Dmitry, Design of the parallel spherical manipulator for wrist rehabilitation, pp. 166-168, 2019.S. Bai, M. Hansen and T. Andersen, "Modelling of a special class of spherical parallel manipulators with euler parameters", Robotica, vol. 27, pp. 161-170, 2009.J. Mei, X. Zhang, J. Zang and F. Zhang, "Optimization design using a global and comprehensive performance index and angular constraints in a type of parallel manipulator", Advances in Mechanical Engineering vol. 10, vol. 07, pp. 168781401878706, 2018.http://purl.org/coar/resource_type/c_c94fLICENSElicense.txtlicense.txttext/plain; charset=utf-83182https://repositorio.utb.edu.co/bitstream/20.500.12585/9991/2/license.txte20ad307a1c5f3f25af9304a7a7c86b6MD52ORIGINAL151.pdf151.pdfAbstractapplication/pdf88936https://repositorio.utb.edu.co/bitstream/20.500.12585/9991/1/151.pdfd3aba06fcdc896985ef88a6b3227b464MD51TEXT151.pdf.txt151.pdf.txtExtracted texttext/plain1086https://repositorio.utb.edu.co/bitstream/20.500.12585/9991/3/151.pdf.txt55fa3dae4be3f416f604a8ed725f3c8eMD53THUMBNAIL151.pdf.jpg151.pdf.jpgGenerated Thumbnailimage/jpeg50381https://repositorio.utb.edu.co/bitstream/20.500.12585/9991/4/151.pdf.jpgdfc80688085be92a700372625b665f85MD5420.500.12585/9991oai:repositorio.utb.edu.co:20.500.12585/99912023-04-21 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