Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints
- verfasst von
- Moritz Schappler
- Abstract
Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and systematic kinematic description. For an efficient formulation of the inverse kinematics problem (IKP) an existing approach using intrinsic Z- Y
′ - X
′ ′ Tait-Bryan angles for the rotational kinematic constraints is transferred from 3T3R PMs to 3T1R PMs. The adaption of the kinematics model for the five-DoF leg chains of symmetric 3T1R PMs is elaborated in detail. The presented application in a Newton-Raphson IK scheme with nullspace projection is validated within a dimensional synthesis of such PMs, already exploiting the redundancy. The framework is able to reproduce existing PMs from literature. Results show the dimensioning of PMs for an exemplary task.
- Organisationseinheit(en)
-
Institut für Mechatronische Systeme
- Typ
- Aufsatz in Konferenzband
- Seiten
- 198-207
- 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_22 (Zugang:
Offen)
https://doi.org/10.1007/978-3-031-08140-8_22 (Zugang: Geschlossen)