Computation of unique kinematic solutions of a spherical parallel manipulator with coaxial input shafts

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper presents an extended approach for computing unique solutions to forward and inverse kinematics of a three degrees-of-freedom spherical parallel manipulator (SPM) with coaxial input shafts and all revolute joints that has an unlimited rolling motion property. The approach is formulated in the form of easy-to-follow algorithms. Numerical and simulation case studies are conducted on a novel coaxial SPM design model demonstrating its multiple possible solutions of the forward and inverse kinematics problems constituting assembly and working modes of the manipulator, respectively. It is confirmed that the proposed approach allows computing of a unique solution corresponding to the specific assembly or working mode of a coaxial SPM. Furthermore, a 3D printed coaxial SPM prototype is presented in detail for experimental verification of the performed numerical and simulation analyses. The obtained results can be applied in the design of realtime orientation control systems of coaxial SPMs.

Original languageEnglish
Title of host publication2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019
PublisherIEEE Computer Society
Pages1524-1531
Number of pages8
ISBN (Electronic)9781728103556
DOIs
Publication statusPublished - Aug 2019
Event15th IEEE International Conference on Automation Science and Engineering, CASE 2019 - Vancouver, Canada
Duration: Aug 22 2019Aug 26 2019

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2019-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference15th IEEE International Conference on Automation Science and Engineering, CASE 2019
CountryCanada
CityVancouver
Period8/22/198/26/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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