A New Method to Solve the Kinematic Problem of Parallel Robots Using an Equivalent Structure

Abstract:

This paper proposed a new method to downgrade the kinematic mathematical model of parallel robots. A technique of complement mathematical models uses constraints to change the form of objective functions. An equivalent structure is used to replace the original structure of investigated robots. The difficulties encountered in solving problems having the transcendental form can be avoided by downgrading formula of the new mathematical model. The original formula which is usually in quaternary order can be downgraded to quadratic form. The main advantages of this method are understandable mathematical basis, high accuracy, and quick convergence. Carrying out solutions for pracitical kinematic problems of parallel robots becomes very promissable.

• Periodical: Applied Mechanics and Materials (Volumes 789-790)
• Pages: 643-651
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.789-790.643
• Online since: September 2015
• Authors: Thanh Trung Trang*, Wei Guang Li, Thanh Long Pham
• Keywords: Equivalent Structure, Kinematic Problem, Parallel Robot

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