Inverse Kinematics Analysis and Mechatronics Design of Mobile Parallel Manipulator for Assisted Assembly

被引：1

作者：

Huang, Yuan ^{[1
,2
]}

Li, Duanling ^{[1
]}

Dong, Kaijie ^{[1
]}

Zhang, Wencai ^{[3
]}

Gao, Xianmong

机构：

[1] Beijing Univ Posts & Telecommun, Sch Modern Post, Sch Automat, Beijing 100876, Peoples R China

[2] Guilin Univ Elect Technol, Sch Elect Engn & Automat, Guilin 541004, Peoples R China

[3] Shaanxi Univ Sci & Technol, Xian 710021, Peoples R China

来源：

PROCEEDINGS OF 2022 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2022) | 2022年

基金：

中国国家自然科学基金; 北京市自然科学基金;

关键词：

parallel manipulator; screw theory; inverse kinematics; orientation description; assisted assembly;

D O I：

10.1109/ICMA54519.2022.9856073

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the needs of assisted assembly in industrial production lines, a mobile parallel manipulator configuration combining 3-RPS parallel mechanism and Mecanum wheel platform is firstly proposed. Secondly, The method of applying the screw theory to the limb chains of the traditional 3-RPS parallel manipulator (PM) is analysed, and the degree of freedom (DOF) of the PM is determined to be 3, i.e., one translational and two rotational DOE Thirdly, the inverse kinematic solution of the PM is calculated. Comparing the various orientation description methods, the Z-X-Z Euler angle description can simplify the computational complexity. the inverse kinematics solution is obtained by Matlab and compared with the simulation analysis results of Adams kinematics. Finally, the design architecture of the control system and the photos of the prototype are given.

引用

页码：739 / 743

页数：5

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