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Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints: A Case Study

Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints: A Case Study

Mohsen Moradi Dalvand, Bijan Shirinzadeh
Copyright: © 2012 |Volume: 2 |Issue: 1 |Pages: 13
ISSN: 2156-1664|EISSN: 2156-1656|EISBN13: 9781466613034|DOI: 10.4018/ijimr.2012010102
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MLA

Dalvand, Mohsen Moradi, and Bijan Shirinzadeh. "Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints: A Case Study." IJIMR vol.2, no.1 2012: pp.28-40. http://doi.org/10.4018/ijimr.2012010102

APA

Dalvand, M. M. & Shirinzadeh, B. (2012). Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints: A Case Study. International Journal of Intelligent Mechatronics and Robotics (IJIMR), 2(1), 28-40. http://doi.org/10.4018/ijimr.2012010102

Chicago

Dalvand, Mohsen Moradi, and Bijan Shirinzadeh. "Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints: A Case Study," International Journal of Intelligent Mechatronics and Robotics (IJIMR) 2, no.1: 28-40. http://doi.org/10.4018/ijimr.2012010102

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Abstract

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies.

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