ロック可能関節を備えたマルチモードパラレルロボットの運動学・作業空間・特異点解析
Kinematics, workspace and singularity analysis of a multi-mode parallel robot
ロック可能な受動関節により3Tモードと2T1Rモード間を切り替えられる3-PRPiRパラレルロボットについて、各動作モードの順・逆運動学と作業空間、特異点を解析し、試作機で検証した論文。
著者: Damien Chablat, Xianwen Kong, Chengwei Zhang
分類: cs.RO
原文アブストラクト
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lock-able P (prismatic) joint is locked or a 2-DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation modes to three 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation modes are dealt with in detail. The workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. A prototype built at Heriot-Watt University is used to illustrate the results of this work.
