Workspace analysis of a novel underactuated robot wrist based on virtual prototyping

The kinematics of robot wrist refers to the motion information of a manipulator, such as positions, velocities, and accelerations. It is very crucial for analysing the behaviour of robot wrist using a suitable kinematics model with a result of many valuable contributions. However, current researches always focus on full-actuated robot wrist. The proposed underactuated robot wrist is a novel mechanism with small volume, lightweight, low cost, low energy consumption, and high flexibility, thus designing a robot wrist with fewer actuators than the degrees of freedom becomes an important issue. This article is devoted to kinematics analysis model of a novel underactuated robot wrist. After the novel understated robot wrist was introduced, the inverse kinematics analysis and forward kinematic analysis of the underactuated robot wrist with numerical simulation based on virtual prototyping were discussed in detail. The verification of the forward kinematic analysis and inverse kinematics analysis is used to demonstrate the proposed methodology.

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“…Based on formula (13) and above formulas about v 1 , v 2 , and v 3 , it is obtained as follows Compared with formula (12)…”

Section: Fkamentioning

confidence: 99%

“…Since the axes of 3-DOF underactuated robot wrist joint are all focused to one point, 13,29 the coordinate systems of each are selected at the same point, named point O.…”

Section: The Coordinate System Of Underactuated Robot Wristmentioning

confidence: 99%

Kinematics analysis and numerical simulation of a novel underactuated robot wrist

Zhang

Liu

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part B:

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“…Compared with series mechanism, parallel mechanism has advantages of the high speed, high precision, strong carrying capacity, and high structural rigidity. [1][2][3][4][5][6] Due to the closed-loop structure characteristics of the parallel mechanism, the dynamic model of the mechanism is usually more complicated. 7 In practical working conditions, joint clearance is unavoidable in parallel mechanism due to various reasons such as design, assembly process, friction, and wear.…”

Section: Instructionmentioning

confidence: 99%

Dynamic modeling of spatial parallel mechanism with multi-spherical joint clearances

Chen

Sun

2019

International Journal of Advanced Robotic Systems

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The parallel mechanism has advantages of the high speed, high precision, strong carrying capacity, and high structural rigidity. Most of the previous studies concerning the dynamic modeling focused on planar mechanisms with revolute clearance joints or spatial mechanisms with one spherical joint clearance, while few studies focused on spatial parallel mechanisms with multi-spherical joint clearances. In this article, a general dynamic modeling method for spatial parallel mechanism with multi-spherical joint clearances based on Lagrange multiplier method is proposed. Taking 4universal joint-prismatic joint-spherical joint/universal joint-prismatic joint- universal joint (4UPS-UPU) spatial parallel mechanism as an example, the constraint equations of common kinematic pairs in spatial parallel mechanism, such as universal joint, spherical joint, and prismatic joint, are derived in detail. The dynamic model of the parallel mechanism with two spherical joint clearances combining the Flores contact force model and the LuGre friction model is established. The correctness of model has also been verified by comparing the analysis results of MATLAB with those of ADAMS. It can be seen that dynamic model of spatial parallel mechanism with multi-spherical joint clearances could be easily established by this method, which provides a theoretical reference to establish the dynamic model of other parallel mechanism with multi-clearance in the future.

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“…However, current research mainly focus on the common excavator, [9][10][11][12] there are few reports about the research on the telescopic excavator, which has the greater flexible operation mode and the bigger operation range. So the research on spatial kinematics [13][14][15] of telescopic robotic excavator has significant value based on virtual prototype [16][17][18][19] and experiment research. The paper is organized as follows: In 'Overview of telescopic excavator' section, the structure characteristics and operation space classification of telescopic robotic excavator are analyzed.…”

Section: Introductionmentioning

confidence: 99%

Virtual prototype and experimental research on spatial kinematics of telescopic robotic excavator

Cui

Feng

et al. 2017

International Journal of Advanced Robotic Systems

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In order to achieve autonomous operation, the kinematics model and experiment system of telescopic excavator are studied. Firstly, the operation space of the robotic excavator is classified and mapping models between different spaces are established based on the D-H method and geometrical relationship method. Then, the virtual prototype of the telescopic robotic excavator is built based on the SimMechanics software, leveling operation and digging operation are simulated; kinematics model and virtual prototype are tested and verified. Finally, experimental system is developed and trajectory tracking experiment is carried out. By comparing with the simulation results, the validity of the proposed control scheme is verified. The research of this article laid foundations for further study and application.

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Workspace analysis of a novel underactuated robot wrist based on virtual prototyping

Cited by 26 publications

References 28 publications

Kinematics analysis and numerical simulation of a novel underactuated robot wrist

Kinematics analysis and numerical simulation of a novel underactuated robot wrist

Dynamic modeling of spatial parallel mechanism with multi-spherical joint clearances

Virtual prototype and experimental research on spatial kinematics of telescopic robotic excavator

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