Papers by Keyword: Forward Kinematics

Abstract: The development of additive manufacturing requires the improvement of 3D printers to increase accuracy and productivity. Delta kinematics 3D printers have advantages over traditional sequential kinematics 3D printers. The main advantage is the high travel speed due to the parallel movement of the platform from three pairs of arms. Another advantage is the relatively low cost due to the small number of structural components. However, delta 3D printers have received limited use. The main reason is the low positioning accuracy of the end effector. Errors in the manufacture and assembly of components of a parallel drive mechanism add up geometrically and cause an error in the position of the end effector. These formulas can be applied to a 3D printer as well. However, well-known studies consider deterministic models. Therefore, the analysis is performed for limiting size errors. The purpose of this article is to simulate the effect of statistical errors in displacements and arm lengths on the positioning errors of a platform with the end effector. The article effectively complements the field of error analysis research and provides theoretical advice on error compensation for delta 3D printer.

Abstract: One of the most precise method solving the inverse kinematics problem in the redundant cases of the robots is the coupled method. The proposed method use the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with the proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). One precise solution of the inverse kinematics problem is very difficult to find, when the degree of freedom increase and in many cases this is impossible because the redundant solutions. In all these cases must be used the numerical iterative approximation, like the proposed method, with artificial intelligence algorithm. The paper describe all the steps in one case study to obtain the space circle curve in different planes by using one arm type robot and the proposed method. The errors of the space movement of the robot end-effecter, after applying the proposed method, was less than 0,01. The presented method is general and it can be used in all other robots types and for all other conventional and unconventional space curves.

Abstract: This paper presents a method to build the forward kinematics model of a bucket excavator’s digging equipment. The applied method is the one used for the industrial robots’ mechanisms and uses Denavit-Hartenberg convention.

Abstract: Forward Kinematic simulation of a 6 DOF surgical robot tracking a path through the constraint of the Remote Center of Motion point (RCM) is developed in this paper. Theoretical calculations of the forward kinematics are analyzed by solving the configuration kinematic equations of the robot. CAD prototype of the surgical robot and the patient are created using CATIA5 part and assembly tools. The theoretical results are validated through a Kinematic simulation of CATIA kinematics. The simulation results confirm the usefulness of the six revolute joint robots in minimally invasive surgery (MIS) and the efficiency of using the power full CATIA5 software to simulate surgical robot, and checking the robot mechanism capability of doing surgical procedures.

Abstract: The paper deals with the kinematics problem of a four-degree-of-freedom manipulator and derives equations for forward and inverse kinematics. A simulation model has been created applying SolidWorks program. On the basis of modelling, a real object used for experimental research has been built. Numerical, analytical and experimental results have been compared.

Abstract: The Power-On-Live Manipulator with hydraulic system can complete many different repair works in the Substation. This paper focuses on the study of the kinematics of six DOF manipulator, and establishes the forward kinematics equation based on the analysis of the whole power-on-live manipulator. The methods of analytical and geometric are used to complete the power-on-live manipulator’s inverse kinematics calculations, and then the effectiveness of the power-on-live manipulator’s forward and inverse kinematics are verified by the numerical simulation software and the dynamic simulation software.

Abstract: The paper study position positive solution method based on 6-TPS parallel mechanism, and establish general kinematics model of 6-TPS parallel mechanism, gives the numerical method of positive solution based on a kind of position, deduced the forward position solution iteration format, and use MATLAB for the 6-TPS parallel mechanism kinematics to simulation, results show that solving program has stability, fast, effective.

Abstract: This paper explains and demonstrates how can designed one multi robots application with many tasks and some different type of modular collaborative robots. Was described the general mathematical model for the direct and inverse kinematics to controlling the robots and how can solve the inverse kinematics of multiple tasks by using the priority of tasks or serial tasks composed by sum of the weighted several tasks. Some collaborative multi robots applications with parallel, serial or composed robots configurations were shown. The general mathematical matrix model of the robot application point with three translations and three rotations to the world Cartesian coordinates of the application map was defined. The designed method, the animation programs and the used LabVIEW proper virtual instruments open the way to easily define the multi robots application map, establish the constraints of the used robots and of the environment to avoid the singular points and tests the manipulation programs for collaborative application.

Abstract: This paper introduces the development of hot-line live working manipulators and gives a new configuration manipulator driven by hydraulic actuator firstly. Then, its forward kinematics equations are derived with homogenous transformation method. Finally, the analytical solutions of its inverse kinematics are solved under the condition that the posture of the end-effector is known and given with z-y-z Euler angles.

Abstract: Finding the better solution of the inverse kinematics problem, with the minimum of the trajectory errors, is very difficult because there are many variable parameters and many redundant solutions. The presented paper show the assisted solving of the inverse kinematics with the goal to minimize the final end-effector trajectory errors, by optimizing the distance between the and-effector final position and the target. All obtained results were been verified by applying the proper forward kinematics virtual LabVIEW instrumentation. The paper tries to answer at the inverse kinematics problem for one known mathematical trajectory and identifying the cinematic errors after the establishing and applying the proper assisted solving method using the Cycle Coordinate Descent Method coupled to the proper Neural Network Sigmoid Bipolar Hyperbolic Tangent (CCDM-SBHTNN). We were shown one complete study case to obtain one circle space trajectory using one arm type robot fixed on the ceiling. The presented method is general and can be used in all other robots types and in all other conventional and unconventional space curves.