Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints
- verfasst von
- Moritz Schappler
- Abstract
The basic parallel robotics principle of defining kinematic constraints as vector loops is transferred from the general 3T3R case to the 3T2R case by applying a nonlinear Tait-Bryan-angle rotation constraint using the intrinsic Z- Y
′ - X
′ ′ convention. This presents an alternative way to the deduction of differential inverse kinematics by the theory of linear transformations. The resulting formulation is used in a permutational combined structural and dimensional synthesis. The modular approach allows to combine databases of serial and parallel robots without manual intervention. The validation shows the reproducibility of existing kinematic structures using the new kinematic formulation. The optimization scheme allows to obtain suitably dimensioned symmetric 3T2R parallel robots for a given task.
- Organisationseinheit(en)
-
Institut für Mechatronische Systeme
- Typ
- Aufsatz in Konferenzband
- Seiten
- 188-197
- Anzahl der Seiten
- 10
- Publikationsdatum
- 18.06.2022
- Publikationsstatus
- Veröffentlicht
- Peer-reviewed
- Ja
- ASJC Scopus Sachgebiete
- Steuerungs- und Systemtechnik, Elektrotechnik und Elektronik, Maschinenbau, Ingenieurwesen (sonstige), Artificial intelligence, Angewandte Informatik, Angewandte Mathematik
- Elektronische Version(en)
-
https://doi.org/10.1007/978-3-031-08140-8_21 (Zugang:
Geschlossen)