Type synthesis and kinematic analysis for a class of mobile parallel robots

Author

Hu, Ying ; Zhang, Jianwei ; Chen, Yi ; Yao, Junfeng

Author_Institution

Shenzhen Inst. of Adv. Integration Technol., Chinese Univ. of Hong Kong, Shenzhen, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

3619

Lastpage

3624

Abstract

In this paper, a mechanism type synthesis is carried out for a class of mobile parallel robots (MPR) based on a systematic enumeration method, and the feasible configurations for the MPR are obtained. Then the inverse kinematics for the two typical mechanisms of PPRS and PPSR are derived. By a numerical approach, the workspace reachable in the Z-direction and the orientation workspace are obtained. The dexterity characteristics over the entire workspace of the proposed mechanism are investigated based on their condition number index. A comparison is given between the two typical mechanisms. This work provides a basis for the design of MPR mechanisms.

Keywords

control system synthesis; mobile robots; motion control; robot kinematics; PPRS mechanism; PPSR mechanism; Z-direction; condition number index; dexterity characteristics; inverse kinematics; kinematic analysis; mechanism type synthesis; mobile parallel robots; orientation workspace; systematic enumeration method; Control system synthesis; Control systems; Decision making; Kinematics; Mechanical sensors; Mobile robots; Optical sensors; Parallel robots; Robot sensing systems; Temperature sensors; Parallel robot; mobile robot; type synthesis;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246019

Filename

5246019