Kinematics and workspace analysis of a 3DOF parallel reconfigurable robot

Document Type : Mechanics article

Authors

1 Department of Mechanical Engineering, University of Sistan and Baluchestan, Zahedan, Iran

2 Department of Electrical Engineering, University of Bonab, Bonab, Iran.

Abstract

Parallel robots are widely used in many industrial and medical applications. Reconfigurable parallel robots could be defined as a group of parallel robots that can have different geometries, thus obtaining different degrees of freedom derived from the basic structure. These robots have some disadvantages like having erratic workspace and singular points in the workspace. These limitations should be studied for proper usage of parallel manipulators. This paper presents the kinematics and workspace analysis of a 3DOF parallel reconfigurable robot. This robot has two different configurations. The first configuration is a Tricept robot (3UPS-PU) and the second is a fully Spherical robot (3UPS-S). The kinematic equations are derived based on the geometry of the system and then Jacobian matrices are determined via velocity loop closure analysis. The kinematic model is verified by the results obtained from robot simulation in ADAMS software. Then, the workspace of the robot is determined by considering the kinematic constraints.

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References

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Journal of Modeling in Engineering
Volume 21, Issue 73
June 2023
Pages 171-185

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