The 3-PPPS parallel robot with U-shape Base, a 6-DOF parallel robot with simple kinematics

Abstract : One of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the " home " configuration.
Type de document :
Communication dans un congrès
16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologna, Italy
Liste complète des métadonnées

Littérature citée [12 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01782286
Contributeur : Damien Chablat <>
Soumis le : mardi 1 mai 2018 - 15:52:04
Dernière modification le : mardi 5 juin 2018 - 08:56:14

Fichiers

2018_03_15_ARK.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01782286, version 1

Collections

Citation

Damien Chablat, Luc Baron, Ranjan Jha, Luc Rolland. The 3-PPPS parallel robot with U-shape Base, a 6-DOF parallel robot with simple kinematics. 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologna, Italy. 〈hal-01782286〉

Partager

Métriques

Consultations de la notice

52

Téléchargements de fichiers

22