KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT

This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passive central segment. This structure provides a pure translation motion. We will also determine the relations between generalized and articular velocities by using the inverse Jacobia...

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Autores principales:	Cherfia,Abdelhakim, Zaatri,Abdelouahab, Giordano,Max
Lenguaje:	English
Publicado:	Universidad de Tarapacá. 2007
Materias:	Geometrical model parallel manipulator passive segment Jacobian matrix workspace singularity
Acceso en línea:	http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052007000200004
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spelling	oai:scielo:S0718-330520070002000042007-11-13KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENTCherfia,AbdelhakimZaatri,AbdelouahabGiordano,Max Geometrical model parallel manipulator passive segment Jacobian matrix workspace singularity This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passive central segment. This structure provides a pure translation motion. We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix. Further, we determine the reciprocal relations between cartesian and angular velocities of the end-effector via articular velocities by simple derivation of the direct geometrical model expressions. A determination of the workspace based on the geometrical model analysis is derived followed by a numerical calculation of all the atteignables points enabling a graphical visualisation of such a workspace. Moreover, the analysis of the Jacobian matrix has permitted to ensure that there are no singularities of type 1 and 2 in such a structure. A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models.info:eu-repo/semantics/openAccessUniversidad de Tarapacá.Ingeniare. Revista chilena de ingeniería v.15 n.2 20072007-08-01text/htmlhttp://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052007000200004en10.4067/S0718-33052007000200004
institution	Scielo Chile
collection	Scielo Chile
language	English
topic	Geometrical model parallel manipulator passive segment Jacobian matrix workspace singularity
spellingShingle	Geometrical model parallel manipulator passive segment Jacobian matrix workspace singularity Cherfia,Abdelhakim Zaatri,Abdelouahab Giordano,Max KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT
description	This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passive central segment. This structure provides a pure translation motion. We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix. Further, we determine the reciprocal relations between cartesian and angular velocities of the end-effector via articular velocities by simple derivation of the direct geometrical model expressions. A determination of the workspace based on the geometrical model analysis is derived followed by a numerical calculation of all the atteignables points enabling a graphical visualisation of such a workspace. Moreover, the analysis of the Jacobian matrix has permitted to ensure that there are no singularities of type 1 and 2 in such a structure. A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models.
author	Cherfia,Abdelhakim Zaatri,Abdelouahab Giordano,Max
author_facet	Cherfia,Abdelhakim Zaatri,Abdelouahab Giordano,Max
author_sort	Cherfia,Abdelhakim
title	KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT
title_short	KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT
title_full	KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT
title_fullStr	KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT
title_full_unstemmed	KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT
title_sort	kinematics analysis of a parallel robot with a passive segment
publisher	Universidad de Tarapacá.
publishDate	2007
url	http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052007000200004
work_keys_str_mv	AT cherfiaabdelhakim kinematicsanalysisofaparallelrobotwithapassivesegment AT zaatriabdelouahab kinematicsanalysisofaparallelrobotwithapassivesegment AT giordanomax kinematicsanalysisofaparallelrobotwithapassivesegment
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KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT

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