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Forward and Inverse Position Kinematics for the RRSSR Parallel Robot With Hardware Validation

[+] Author Affiliations
Robert L. Williams, II, Ryan Lucas, J. Jim Zhu

Ohio University, Athens, OH

Paper No. DETC2016-59290, pp. V05AT07A058; 7 pages
doi:10.1115/DETC2016-59290
From:
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5015-2
  • Copyright © 2016 by ASME

abstract

This paper presents forward and inverse position kinematics equations and analytical solutions for the 2-dof RRSSR Parallel Robot. Two ground-mounted perpendicular offset revolute (R) joints are actuated via servomotors, and the single-loop parallel robot consists of passive R-S-S (revolute-spherical-spherical) joints in between the active joints. A study of the multiple solutions in each case is presented, including means to select the appropriate solutions. This rigid-link parallel robot forms the hip joints of the Ohio University RoboCat walking quadruped. The methods of this paper are suitable to assist in design, simulation, control, and gait selection for the quadruped. RoboCat hardware has been built and used to help validate the examples and results of this paper.

Copyright © 2016 by ASME
Topics: Kinematics , Robots , Hardware

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