Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy
This article introduces a novel modification of a Delta-type parallel robot. The robot has five degrees of freedom and provides its end-effector with a 3T2R motion pattern (three translational and two rotational degrees of freedom). The fifth degree of freedom (rotation) is kinematically decoupled f...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/1/1 |
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| author | Pavel Laryushkin Anton Antonov Alexey Fomin Oxana Fomina |
| author_facet | Pavel Laryushkin Anton Antonov Alexey Fomin Oxana Fomina |
| author_sort | Pavel Laryushkin |
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| description | This article introduces a novel modification of a Delta-type parallel robot. The robot has five degrees of freedom and provides its end-effector with a 3T2R motion pattern (three translational and two rotational degrees of freedom). The fifth degree of freedom (rotation) is kinematically decoupled from the other four motions, and it is controlled by two drives. Thus, the proposed robot has a redundant actuation. In this article, we present an algorithm to solve the inverse kinematics of this robot and apply it to a path modeling example of a spiral-like trajectory. Numerical simulations illustrate the algorithm and show how the actuated coordinates change along the considered trajectory. Forward kinematics follows next, and an approach is introduced to determine all end-effector configurations for the specified displacements in the actuated joints. A numerical example presents four assembly modes of the robot corresponding to four real solutions of the forward kinematic problem. Finally, this article demonstrates a computer-aided design and analysis of the proposed robot: we describe a procedure for analyzing inverse kinematics and calculating actuation torques. This study forms the basis for the future manufacturing and experimental analysis of a robot prototype. |
| format | Article |
| id | doaj-art-403ba84623f547debd4a8f91a1b6899d |
| institution | Kabale University |
| issn | 2218-6581 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-403ba84623f547debd4a8f91a1b6899d2025-01-24T13:48:22ZengMDPI AGRobotics2218-65812024-12-01141110.3390/robotics14010001Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation RedundancyPavel Laryushkin0Anton Antonov1Alexey Fomin2Oxana Fomina3Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), 105005 Moscow, RussiaMechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, RussiaMechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, RussiaMechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, RussiaThis article introduces a novel modification of a Delta-type parallel robot. The robot has five degrees of freedom and provides its end-effector with a 3T2R motion pattern (three translational and two rotational degrees of freedom). The fifth degree of freedom (rotation) is kinematically decoupled from the other four motions, and it is controlled by two drives. Thus, the proposed robot has a redundant actuation. In this article, we present an algorithm to solve the inverse kinematics of this robot and apply it to a path modeling example of a spiral-like trajectory. Numerical simulations illustrate the algorithm and show how the actuated coordinates change along the considered trajectory. Forward kinematics follows next, and an approach is introduced to determine all end-effector configurations for the specified displacements in the actuated joints. A numerical example presents four assembly modes of the robot corresponding to four real solutions of the forward kinematic problem. Finally, this article demonstrates a computer-aided design and analysis of the proposed robot: we describe a procedure for analyzing inverse kinematics and calculating actuation torques. This study forms the basis for the future manufacturing and experimental analysis of a robot prototype.https://www.mdpi.com/2218-6581/14/1/1redundantly actuated parallel robotDelta-type robot5-DOF manipulation3T2R motion patterninverse kinematicsforward kinematics |
| spellingShingle | Pavel Laryushkin Anton Antonov Alexey Fomin Oxana Fomina Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy Robotics redundantly actuated parallel robot Delta-type robot 5-DOF manipulation 3T2R motion pattern inverse kinematics forward kinematics |
| title | Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy |
| title_full | Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy |
| title_fullStr | Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy |
| title_full_unstemmed | Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy |
| title_short | Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy |
| title_sort | inverse and forward kinematics and cad based simulation of a 5 dof delta type parallel robot with actuation redundancy |
| topic | redundantly actuated parallel robot Delta-type robot 5-DOF manipulation 3T2R motion pattern inverse kinematics forward kinematics |
| url | https://www.mdpi.com/2218-6581/14/1/1 |
| work_keys_str_mv | AT pavellaryushkin inverseandforwardkinematicsandcadbasedsimulationofa5dofdeltatypeparallelrobotwithactuationredundancy AT antonantonov inverseandforwardkinematicsandcadbasedsimulationofa5dofdeltatypeparallelrobotwithactuationredundancy AT alexeyfomin inverseandforwardkinematicsandcadbasedsimulationofa5dofdeltatypeparallelrobotwithactuationredundancy AT oxanafomina inverseandforwardkinematicsandcadbasedsimulationofa5dofdeltatypeparallelrobotwithactuationredundancy |