Title :
Design and kinematic analysis of modular reconfigurable parallel robots
Author :
Yang, Guilin ; Chen, I-Ming ; Lim, Wee Kiat ; Yeo, Song Huat
Author_Institution :
Div. of Autom. Technol., Nanyang Technol. Univ., Singapore
Abstract :
A modular parallel robotic system consists of a collection of individual standard units that can be assembled into various robot configurations for a diversity of task requirements. This paper is focused on the design and kinematic analysis of modular reconfigurable parallel robots. A set of fundamental modules is considered. A local frame representation of the product-of-exponentials (POE) formula, i.e., the local POE formula, is employed for the kinematic analysis of modular parallel robots. Two forward displacement analysis algorithms and a workspace visualization scheme are presented for a class of 3-leg modular parallel robots. Computation examples are also given to demonstrate the effectiveness of the proposed algorithms. The kinematic formulation shows that the local POE formula is a systematic and well-structured method for the kinematic analysis of parallel robots
Keywords :
robot kinematics; 3-leg modular parallel robots; forward displacement analysis algorithms; kinematic analysis; local POE formula; local frame representation; modular reconfigurable parallel robots; product-of-exponentials formula; robot configurations; workspace visualization scheme; Actuators; Algorithm design and analysis; Iterative algorithms; Kinematics; Leg; Manufacturing automation; Parallel robots; Robotic assembly; Robotics and automation; Visualization;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.773973