In this paper, an effective hybrid method is proposed based on the classification, neural networks, and particle swarm optimization algorithm for solving the forward kinematics problem of parallel robots. In order to increase the accuracy, the workspace of a parallel robot is divided into several ...
Example 1: forward kinematics The example consists of solving the forward kinematics of the terminal links mi. In that regard, the results are available for the two operation modes of the robot manipulator: configurable robot with two or three end-effectors. The first part of the example is de...
The forward kinematic problem has been solved for two distinct sets of input data, while the architecture parameters have been held constant, at l=3 and s=2. Conclusions This paper has presented an analytical study of the forward kinematics of the 3-RPRS manipulator. The manipulator is so ...
Forwardkinematicsmodellingofaparallelanklerehabilitationrobotusing modifiedfuzzyinference P.K.Jamwal⁎,S.Q.Xie,Y.H.Tsoi,K.C.Aw DepartmentofMechanicalEngineering,TheUniversityofAuckland,PrivateBag92019,Auckland,NewZealand articleinfoabstract Articlehistory: ...
The study of parallel robot dynamics cannot be done without using their kinematic relationships and studying their singularities. Therefore, in the present chapter, we investigate the computation of inverse and forward geometric and kinematic models of the usual PKM. The models of several robots will...
The rotation angle of each actuator for the quadruped robot is analyzed by the inverse kinematics algorithm. Moreover, the trajectory of the foot-end, including support and swing phases, is planned to reduce the impact between the foot-end and the ground. Furthermore, the gait of the four ...
Many successful applications of PKMs are mechanisms with Lower-Mobility, i.e., they have an end-effector with a motion submanifold, as it is the case of the well-known Delta Robot. The planar version of the Delta Robot with linear actuators is shown in Figure 1, alongside its workspace ...
The three limbs of the linear parallel robot are moved by linear motors [6]. The synthesis of parallel manipulators, the robot’s forward and inverse dynamics, dynamic simulations, robot optimization, and the matrix link between the robot’s kinematics and on-board dynamics have all been the ...
The forward kinematics challenge is efficiently tackled using a least squares method coupled with an Inertial Measurement Unit (IMU), ensuring swift and precise solutions. The robustness and adaptability of the robot and its control systems are thoroughly validated through extensive experimental trials, ...
The three limbs of the linear parallel robot are moved by linear motors [6]. The synthesis of parallel manipulators, the robot’s forward and inverse dynamics, dynamic simulations, robot optimization, and the matrix link between the robot’s kinematics and on-board dynamics have all been the ...