Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles

Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles

Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom (“3T2R”). While kinematic models for specific mechanisms for these tasks exist, a general kinematic mode...

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Bibliographic Details
Main Authors: Moritz Schappler, Svenja Tappe, Tobias Ortmaier
Format: Article
Language:English
Published: MDPI AG 2019-08-01
Series:Robotics
Subjects:
parallel robot
five-DoF task
3T2R task
functional redundancy
task redundancy
redundancy resolution
reciprocal Euler angles
inverse kinematics
Online Access:https://www.mdpi.com/2218-6581/8/3/68
Description
Summary:Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom (“3T2R”). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component of kinematic constraints equations for parallel robots based on two reciprocal sets of Euler angles for the end-effector orientation and the orientation residual. The method allows completely removing the redundant coordinate in 3T2R tasks and to solve the inverse kinematics for general serial and parallel robots with the gradient descent algorithm. The functional redundancy of robots with full mobility is exploited using nullspace projection.
ISSN:2218-6581

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