Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector
Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in...
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MDPI AG
2021-01-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/9/1/7 |
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| author | Tommaso Marchi Giovanni Mottola Josep M. Porta Federico Thomas Marco Carricato |
| author_facet | Tommaso Marchi Giovanni Mottola Josep M. Porta Federico Thomas Marco Carricato |
| author_sort | Tommaso Marchi |
| collection | DOAJ |
| description | Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider <i>n</i>-<span style="text-decoration: underline;">R</span>RR planar configurable robots, in which the end-effector is a chain composed of <i>n</i> links and revolute joints, and is controlled by <i>n</i> rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>4</mn></mrow></semantics></math></inline-formula>, <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>5</mn></mrow></semantics></math></inline-formula> and <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>6</mn></mrow></semantics></math></inline-formula>; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-<span style="text-decoration: underline;">R</span>RR mechanism to <i>n</i>-<span style="text-decoration: underline;">R</span>RR robots (with <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>></mo><mn>3</mn></mrow></semantics></math></inline-formula>). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–<span style="text-decoration: underline;">R</span>RR robot prototype. |
| first_indexed | 2024-03-09T05:11:41Z |
| format | Article |
| id | doaj.art-1a77bb0b31fa495c94fd612c5fc3850d |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T05:11:41Z |
| publishDate | 2021-01-01 |
| publisher | MDPI AG |
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| series | Machines |
| spelling | doaj.art-1a77bb0b31fa495c94fd612c5fc3850d2023-12-03T12:48:43ZengMDPI AGMachines2075-17022021-01-0191710.3390/machines9010007Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-EffectorTommaso Marchi0Giovanni Mottola1Josep M. Porta2Federico Thomas3Marco Carricato4Department of Industrial Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, ItalyDepartment of Industrial Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, ItalyInstitut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Carrer Llorens i Artigas 4–6, 08028 Barcelona, SpainInstitut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Carrer Llorens i Artigas 4–6, 08028 Barcelona, SpainDepartment of Industrial Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, ItalyParallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider <i>n</i>-<span style="text-decoration: underline;">R</span>RR planar configurable robots, in which the end-effector is a chain composed of <i>n</i> links and revolute joints, and is controlled by <i>n</i> rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>4</mn></mrow></semantics></math></inline-formula>, <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>5</mn></mrow></semantics></math></inline-formula> and <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>=</mo><mn>6</mn></mrow></semantics></math></inline-formula>; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-<span style="text-decoration: underline;">R</span>RR mechanism to <i>n</i>-<span style="text-decoration: underline;">R</span>RR robots (with <inline-formula><math display="inline"><semantics><mrow><mi>n</mi><mo>></mo><mn>3</mn></mrow></semantics></math></inline-formula>). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–<span style="text-decoration: underline;">R</span>RR robot prototype.https://www.mdpi.com/2075-1702/9/1/7parallel manipulatorsreconfigurabilitydirect kinematicssingularities |
| spellingShingle | Tommaso Marchi Giovanni Mottola Josep M. Porta Federico Thomas Marco Carricato Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector Machines parallel manipulators reconfigurability direct kinematics singularities |
| title | Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector |
| title_full | Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector |
| title_fullStr | Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector |
| title_full_unstemmed | Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector |
| title_short | Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector |
| title_sort | position and singularity analysis of a class of planar parallel manipulators with a reconfigurable end effector |
| topic | parallel manipulators reconfigurability direct kinematics singularities |
| url | https://www.mdpi.com/2075-1702/9/1/7 |
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