U字型ベースを持つ3-PPPSパラレルロボットの運動学と作業空間解析
Kinematics and workspace analysis of a 3ppps parallel robot with u-shaped base
U字型ベースと正三角形移動プラットフォームを備えた3-PPPSパラレルロボットについて、簡略化された順・逆運動学を導出し、特異点や作業空間・関節空間を円筒代数分解で解析した論文。
著者: Damien Chablat, Luc Baron, Ranjan Jha
分類: cs.RO
原文アブストラクト
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse kinematics for the manipulator under study. The parallel singularities associated with the manipulator depend only on the orientation of the end-effector, and thus depend only on the orientation of the end effector. The quaternion parameters are used to represent the aspects, i.e. the singularity free regions of the workspace. A cylindrical algebraic decomposition is used to characterize the workspace and joint space with a low number of cells. The dis-criminant variety is obtained to describe the boundaries of each cell. With these simplifications, the 3-PPPS parallel robot with proposed design can be claimed as the simplest 6 DOF robot, which further makes it useful for the industrial applications.
