Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints : A Case Study
This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with...
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| Autor*in: |
Shirinzadeh, Bijan [verfasserIn] Dalvand, Mohsen Moradi [author] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2012 |
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| Schlagwörter: |
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| Umfang: |
Online-Ressource |
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| Reproduktion: |
IGI Global InfoSci Journals Archive 2000 - 2012 |
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| Übergeordnetes Werk: |
In: International journal of intelligent mechatronics and robotics - Hershey, Pa : IGI Global, 2011, 2(2012), 1, Seite 28-40 |
| Übergeordnetes Werk: |
volume:2 ; year:2012 ; number:1 ; pages:28-40 |
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10.4018/ijimr.2012010102 |
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| 520 | |a This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies | ||
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10.4018/ijimr.2012010102 doi (DE-627)NLEJ244480915 (VZGNL)10.4018/ijimr.2012010102 DE-627 ger DE-627 rakwb eng Shirinzadeh, Bijan verfasserin aut Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints A Case Study 2012 Online-Ressource nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies IGI Global InfoSci Journals Archive 2000 - 2012 Degree of Freedom (DOF) Forward Kinematics Inverse Kinematics Kinematic Chain Parallel Manipulators Dalvand, Mohsen Moradi author aut In International journal of intelligent mechatronics and robotics Hershey, Pa : IGI Global, 2011 2(2012), 1, Seite 28-40 Online-Ressource (DE-627)NLEJ244419140 (DE-600)2703415-X 2156-1656 nnns volume:2 year:2012 number:1 pages:28-40 http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102 X:IGIG Verlag Deutschlandweit zugänglich http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102&buylink=true text/html Abstract Deutschlandweit zugänglich ZDB-1-GIS GBV_NL_ARTICLE AR 2 2012 1 28-40 |
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10.4018/ijimr.2012010102 doi (DE-627)NLEJ244480915 (VZGNL)10.4018/ijimr.2012010102 DE-627 ger DE-627 rakwb eng Shirinzadeh, Bijan verfasserin aut Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints A Case Study 2012 Online-Ressource nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies IGI Global InfoSci Journals Archive 2000 - 2012 Degree of Freedom (DOF) Forward Kinematics Inverse Kinematics Kinematic Chain Parallel Manipulators Dalvand, Mohsen Moradi author aut In International journal of intelligent mechatronics and robotics Hershey, Pa : IGI Global, 2011 2(2012), 1, Seite 28-40 Online-Ressource (DE-627)NLEJ244419140 (DE-600)2703415-X 2156-1656 nnns volume:2 year:2012 number:1 pages:28-40 http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102 X:IGIG Verlag Deutschlandweit zugänglich http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102&buylink=true text/html Abstract Deutschlandweit zugänglich ZDB-1-GIS GBV_NL_ARTICLE AR 2 2012 1 28-40 |
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10.4018/ijimr.2012010102 doi (DE-627)NLEJ244480915 (VZGNL)10.4018/ijimr.2012010102 DE-627 ger DE-627 rakwb eng Shirinzadeh, Bijan verfasserin aut Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints A Case Study 2012 Online-Ressource nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies IGI Global InfoSci Journals Archive 2000 - 2012 Degree of Freedom (DOF) Forward Kinematics Inverse Kinematics Kinematic Chain Parallel Manipulators Dalvand, Mohsen Moradi author aut In International journal of intelligent mechatronics and robotics Hershey, Pa : IGI Global, 2011 2(2012), 1, Seite 28-40 Online-Ressource (DE-627)NLEJ244419140 (DE-600)2703415-X 2156-1656 nnns volume:2 year:2012 number:1 pages:28-40 http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102 X:IGIG Verlag Deutschlandweit zugänglich http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102&buylink=true text/html Abstract Deutschlandweit zugänglich ZDB-1-GIS GBV_NL_ARTICLE AR 2 2012 1 28-40 |
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10.4018/ijimr.2012010102 doi (DE-627)NLEJ244480915 (VZGNL)10.4018/ijimr.2012010102 DE-627 ger DE-627 rakwb eng Shirinzadeh, Bijan verfasserin aut Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints A Case Study 2012 Online-Ressource nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies IGI Global InfoSci Journals Archive 2000 - 2012 Degree of Freedom (DOF) Forward Kinematics Inverse Kinematics Kinematic Chain Parallel Manipulators Dalvand, Mohsen Moradi author aut In International journal of intelligent mechatronics and robotics Hershey, Pa : IGI Global, 2011 2(2012), 1, Seite 28-40 Online-Ressource (DE-627)NLEJ244419140 (DE-600)2703415-X 2156-1656 nnns volume:2 year:2012 number:1 pages:28-40 http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102 X:IGIG Verlag Deutschlandweit zugänglich http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102&buylink=true text/html Abstract Deutschlandweit zugänglich ZDB-1-GIS GBV_NL_ARTICLE AR 2 2012 1 28-40 |
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10.4018/ijimr.2012010102 doi (DE-627)NLEJ244480915 (VZGNL)10.4018/ijimr.2012010102 DE-627 ger DE-627 rakwb eng Shirinzadeh, Bijan verfasserin aut Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints A Case Study 2012 Online-Ressource nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies IGI Global InfoSci Journals Archive 2000 - 2012 Degree of Freedom (DOF) Forward Kinematics Inverse Kinematics Kinematic Chain Parallel Manipulators Dalvand, Mohsen Moradi author aut In International journal of intelligent mechatronics and robotics Hershey, Pa : IGI Global, 2011 2(2012), 1, Seite 28-40 Online-Ressource (DE-627)NLEJ244419140 (DE-600)2703415-X 2156-1656 nnns volume:2 year:2012 number:1 pages:28-40 http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102 X:IGIG Verlag Deutschlandweit zugänglich http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102&buylink=true text/html Abstract Deutschlandweit zugänglich ZDB-1-GIS GBV_NL_ARTICLE AR 2 2012 1 28-40 |
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This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies |
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This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies |
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This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies |
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10.4018/ijimr.2012010102 |
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2024-07-06T08:02:31.453Z |
| _version_ |
1803815958830120960 |
| fullrecord_marcxml |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">NLEJ244480915</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240202180157.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">150605s2012 xx |||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.4018/ijimr.2012010102</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)NLEJ244480915</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(VZGNL)10.4018/ijimr.2012010102</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Shirinzadeh, Bijan</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints</subfield><subfield code="b">A Case Study</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2012</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">nicht spezifiziert</subfield><subfield code="b">zzz</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">nicht spezifiziert</subfield><subfield code="b">z</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">nicht spezifiziert</subfield><subfield code="b">zu</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies</subfield></datafield><datafield tag="533" ind1=" " ind2=" "><subfield code="f">IGI Global InfoSci Journals Archive 2000 - 2012</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Degree of Freedom (DOF)</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Forward Kinematics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Inverse Kinematics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Kinematic Chain</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Parallel Manipulators</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Dalvand, Mohsen Moradi</subfield><subfield code="e">author</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">International journal of intelligent mechatronics and robotics</subfield><subfield code="d">Hershey, Pa : IGI Global, 2011</subfield><subfield code="g">2(2012), 1, Seite 28-40</subfield><subfield code="h">Online-Ressource</subfield><subfield code="w">(DE-627)NLEJ244419140</subfield><subfield code="w">(DE-600)2703415-X</subfield><subfield code="x">2156-1656</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:2</subfield><subfield code="g">year:2012</subfield><subfield code="g">number:1</subfield><subfield code="g">pages:28-40</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102</subfield><subfield code="m">X:IGIG</subfield><subfield code="x">Verlag</subfield><subfield code="z">Deutschlandweit zugänglich</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2012010102&buylink=true</subfield><subfield code="q">text/html</subfield><subfield code="y">Abstract</subfield><subfield code="z">Deutschlandweit zugänglich</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">ZDB-1-GIS</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_NL_ARTICLE</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">2</subfield><subfield code="j">2012</subfield><subfield code="e">1</subfield><subfield code="h">28-40</subfield></datafield></record></collection>
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7.397485 |