A novel kinematically redundant planar parallel robot manipulator with full rotatability

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Title: A novel kinematically redundant planar parallel robot manipulator with full rotatability
Authors: Baron, N
Philippides, A
Rojas, N
Item Type: Journal Article
Abstract: This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.
Issue Date: 1-Feb-2019
Date of Acceptance: 23-Sep-2018
URI: http://hdl.handle.net/10044/1/66096
DOI: https://dx.doi.org/10.1115/1.4041698
ISSN: 1942-4302
Publisher: American Society of Mechanical Engineers
Start Page: 011008
End Page: 011008
Journal / Book Title: Journal of Mechanisms and Robotics
Volume: 11
Issue: 1
Copyright Statement: © 2019 by ASME
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/R020833/1
Embargo Date: 2019-11-13
Online Publication Date: 2018-11-13
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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