Kinematics analysis and mechatronics system design of a 3-DOF in-parallel actuated mechanism

Author

Patrick, Huynh ; Meng, Woon Kok ; Tong, Ko Tai ; Joo, Kwee Tiaw

Author_Institution

Mech. Eng. Div., NgeeAnn Polytech., Singapore, Singapore

Volume

2

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

950

Abstract

The paper aims to analyze the kinematics of a three-degree-of-freedom (3-DOF) in-parallel actuated mechanism, which can be used as a wrist robotic device. Basic kinematic models are given. Due to symmetry in mechanism geometry, the input-output polynomial degree derived in position forward kinematics can be considerably reduced. By analyzing the relationship between the independent and dependent motion parameters, 3 by 3 Jacobian matrices can be obtained. This will enable further real time control of the mechanism. A prototype mechanism is designed and fabricated based on the kinematics analysis and the simulation result of workspace volume computation.

Keywords

Jacobian matrices; computational geometry; manipulator kinematics; mechatronics; polynomials; servomechanisms; Jacobian matrices; degree of freedom; forward kinematics; input output polynomial; kinematics analysis; mechanism geometry; mechatronics system; motion parameters; parallel mechanism; position forward kinematics; prototype mechanism; real time control; workspace computation; wrist robotic device; Computational geometry; Jacobian matrices; Kinematics; Mechatronics; Motion analysis; Polynomials; Robots; System analysis and design; Virtual prototyping; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1238552

Filename

1238552