Four novel pick-and-place isoconstrained manipulators and their inverse kinematics
Journal
ASME Design Engineering Technical Conference
Journal Volume
2
Journal Issue
PARTS A AND B
Pages
1078-1088
Date Issued
2010
Author(s)
Abstract
The four-degree-of-freedom (4-DoF) Schoenflies-motion (briefly termed X-motion) manipulator with the fast pick-and-place operation is essential for industrial assembly and packaging. For the development of this kind of industrial manipulator, we provide architectures and inverse kinematics of four X-motion isoconstrained parallel mechanisms with two limbs, CuuUwHw-//-CvvUwHw, CuRuuUhw-//-CvRvvUhw, CuRuPHw-//-CvRvPHw and CuPuUhw-//-CvPvUhw (R, P, H and C denote revolute, prismatic, screw and cylindrical pairs respectively; U indicates a universal joint). These novel manipulators are excerpted from numerous general architectural types of isoconstrained parallel generators of X-motion. In this work, their architectures and mobility are first elucidated in detail. With the help of the well-known D-H symbolic notations, their three translational and one rotational motion are comprehensively verified through the four-by-four coordinate transformation matrix approach. Inverse kinematic solutions of joint displacements of each manipulator are further established by using the matrix algebra method for the reference of potential applications.
Type
conference paper