A Parallel Manipulator with Planar Configurable Platform and Three End‐Effectors

Abstract

This work reports on the kinematic analysis of a planar parallel manipulator endowed with a configurable platform assembled with six terminal links serially connected by means of revolute joints. This topology allows the robot manipulator to dispose of three relative degrees of freedom owing to the mobility of an internal closed-loop chain. Therefore, the proposed robot manipulator can admit three end-effectors. The forward displacement analysis of the configurable planar parallel manipulator is easily achieved based on unknown coordinates denoting the pose of each terminal link. Thereafter, the analysis leads to twelve quadratic equations which are numerically solved by means of the Newton homotopy method. Furthermore, a closed-form solution is available for the inverse position analysis. On the contrary, the instantaneous kinematics of the robot manipulator is investigated by means of the theory of screws. Numerical examples are included with the purpose to illustrate the method of kinematic analysis.

Adaptive Reinforcement Learning-Enhanced Motion/Force Control Strategy for Multirobot Systems

“…where OE i is a vector with the first point being the original point and the end effector E i under the Cartesian coordinate system and d ij is the distance between end effectors of the ith robot manipulator and the jth robot manipulator. According to (1), combining all the constraints in this multimanipulator, we can obtain the constraint vector as follows:…”

“…Mathematical Problems in Engineering is leads to the following relations that Qτ (1) � Q τ (1) ind τ (1) dep…”

“…It should be noted that the constraint force coefficient λ depends on the ARL-based motion dynamic control τ (1) � τ (1) ind τ (1) dep ⎡ ⎣ ⎤ ⎦ to be described in (47). erefore, with the purpose of tracking the coefficient λ, we can propose the remaining term τ (2) in ( 47) as given in the following:…”

“…In recent years, the tracking control problem for robotic systems has been remarkable, considered from not only academia but also industrial automation [1,2]. Among different schemes, robotic systems can mainly be separated into two categories: (1) mobile robotics [3,4] and (2) robot manipulators [5].…”

Cinemática de un manipulador configurable por medio de la teoría de tornillos

“…Más todavía, gracias a los grados de libertad excedentes, el manipulador paralelo es capaz no sólo de ejecutar la tarea de salida original sino que también será capaz de eliminar o escapar de configuraciones singulares, incrementar el espacio de trabajo, mejorar la destreza y evasión de obstáculos, optimizar la transmisión de fuerza, entre otras limitaciones atribuidas a los manipuladores paralelos. Recientemente un concepto innovador designado como plataforma configurable se ha introducido en la ya exitosa trayectoria del estudio de los manipuladores paralelos con el objetivo de incrementar el potencial bien probado de los robots reconfigurables (Lambert and Herder, 2016;Hoevenaars et al, 2017;Kang and Dai, 2019;Gallardo-Alvarado and Tinajero-Campos, 2019). Con dicha plataforma configurable, además de las ventajas de generar manipuladores paralelos cinemáticamente redundantes (Yi et al, 2002;Mohamed and Gosselin, 2005) debido a la inclusión de grados adicionales de libertad acreditados a una cadena cinemática interna cerrada, esta nueva clase de robots admite la instalación de múltiples efectores finales (Hoevenaars et al, 2017) superando en creatividad y capacidad a los manipuladores convencionales equipados con plataformas rígidas.…”