Solving Inverse Kinematics of a 7-DOF Manipulator Using Convolutional Neural Network
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The manipulator workspace denotes the work area of a manipulator and it is an important foundation of designing a robot. The workspace of a novel symmetrical 4-DOF 3-RRUR parallel manipulator is researched here based on the inverse solution. Five essential conditions of a point within the workspace of the manipulator are presented and the cause of the existence of each condition is given. According to the characteristics of this parallel mechanism and the geometrics, and based on the inverse kinematical solution of the mechanism, the reachable workspace under the five conditions is ascertained. The three-dimensional graph and its section graphs of the workspace are obtained. The thoroughness of the workspace of the manipulator is proved. The mechanism with the advantages of simple symmetric structure and large stiffness can be applied to the developments of four-dimensional force sensors, NC positioning platforms, parallel machine tools and micro-positional parallel manipulators. This work is with great significance to the practical application of the manipulator.
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SUMMARY This paper deals with the position workspace, orientation workspace, and singularity of a 3-degree-of-freedom (DOF) planar parallel manipulator with actuation redundancy, which is created by introducing a redundant link with active actuator to a 3-DOF nonredundant parallel manipulator. Based on the kinematic analysis, the position workspace and orientation workspace of the redundantly actuated parallel manipulator and its corresponding nonredundant parallel manipulator are analyzed, respectively. In the singularity analysis phase, the relationship between the generalized input velocity and the generalized output velocity is researched on the basis of the theory of singular value decomposition. Then a method to investigate the singularity of parallel manipulators is presented, which is used to determine the singularity of the redundantly actuated parallel manipulator. In contrast to the corresponding nonredundant parallel manipulator, the redundant one has larger orientation workspace and less singular configurations. The redundantly actuated parallel manipulator is incorporated into a 4-DOF hybrid machine tool which also includes a feed worktable to demonstrate its applicability.
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The workspace of parallel manipulator 6-SPS is studied in this paper. By means of the algorithm of mathematical analysis,the working envelopes and the reachable spaces with known structural parameters can be calculated accurately and rapidly. The influence of the structural parameters on the working envelopes is explored. Some regular variations of significance are found. These results are significant for the designing and usage of the parallel manipulator.
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With focus on parallel manipulator in robot research, the research on parallel mechanism theory has been going through rapid development and the theories on kinematics, dynamics, performance analysis etc. have been enriching. This article quoted lots of documents on workspace in performance analysis and thoroughly analyzed current status of workspace, which is one branch of parallel manipulator in research.
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The workspace of parallel robot manipulator is studied in this paper. As the method of input-trans-formation is used in algorithm, the optimization procedure is simplified. In the paper, the workspace sec-tions of parallel robot manipulator are analyzed, and the relation between size and workspace is discussedin detail. The method of workspace enlargement obtained in this paper is significant for designing and us-ing parallel robot manipulator.
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Manipulator as the important part of the robot has certain research value. Based on the idea of man-machine cooperation ,The structure and correlation parameter of the picking manipulator are designed in this paper. Through detailed analysis,algebra method is used for solving inverse kinematics of the manipulator and kinematics equations are obtained,whereupon mathematic formulas are provided for manipulator control. The effectiveness of kinematics equation is confirmed in ADAMS.
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Kinematics design of a lower-DOF parallel robot parallel, a 3-UUR pure rotational parallel manipulator, is presented. We first analyzed the instantaneous motions of 3-RUU parallel robot at initial configuration by reciprocal screw, after the inverse kinematics and forward kinematics are analyzed. At the basis on the kinematics, the workspace of parallel robot is presented in the paper. The main influences for the workspace of parallel robot consist of circumscribed circle radius of fixed platform Ra, circumscribed circle radius of moving fixed platform R b , length of connecting rod l and the angles θ among connecting rod. The performances of such 3-RUU mechanisms are very different for different configurations. The curve of simulation which prove the academic analysis is given by Adams.
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In this paper, a general methodology for the analysis and design of the multi-operational capacity of parallel manipulators is partially presented. On the one hand, the basic principles of this methodology are exposed. In particular, the structural characteristics of the kinematic chains forming the legs of the manipulator are defined. On the other hand, and as an illustrative example, this methodology will be applied to the kinematic analysis of the 3-RPS manipulator. To do so, coming from the aforementioned manipulator, a 6 degree-of-freedom manipulator will be generated such that it contains the 3-RPS manipulator from the geometric point of view. Subsequently, the well-known velocity equations of the 3-RPS manipulator will be obtained together with the equations that relate among them the output variables of the manipulator.
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Aimed at a novel 4-DOF parallel manipulator, the paper brings forward a grid approach which is based on the inverse kinematics result to get its workspace. The paper analyses the kinematics of this kind of parallel manipulator, brings out the formula of the inverse kinematics, then programs, gives several figures of workspace with different parameters and then analyses it finally.
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This paper presents the close-form solution to direct kinematic problem,numerical solution to inverse kinematics for general configuration,and close-form inverse kinematics solution to symmetric configuration of 3-RSR parallel manipulators,based the robotics literature.The maximum number of the direct kinemic problem of this manipulator is sixteen with 8 inverse kinematics solutions at most.The inverse kinematics of 3-RSR parallel manipulator is more difficult than that of other 3-DOF parallel manipulators.
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