A New Method to Solve the Kinematic Problem of Parallel Robots Using an Equivalent Structure

Abstract

This paper proposed a new method to downgrade the kinematic mathematical model of parallel robots. A technique of complement mathematical models uses constraints to change the form of objective functions. An equivalent structure is used to replace the original structure of investigated robots. The difficulties encountered in solving problems having the transcendental form can be avoided by downgrading formula of the new mathematical model. The original formula which is usually in quaternary order can be downgraded to quadratic form. The main advantages of this method are understandable mathematical basis, high accuracy, and quick convergence. Carrying out solutions for pracitical kinematic problems of parallel robots becomes very promissable.

Direct and inverse kinematic problems of tripod-type parallel manipulator

“…Currently, there are some generic algorithms [12][13][14][15], allowing the user to get an accurate solution of the inverse kinematic problem for a general mechanism. However, solving of the inverse problem in real-time is now quite difficult for general manipulation robot.…”