Kinematic analysis of the exechon robot accounting offsets in the accounting offsets in the joint axes

P.C. Lopez-Custodio, Jian Dai, Rao Fu, Yan Jin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An Exechon robot with offsets between the axes of the jointsthat connect the legs to the fixed platform is analyzed for thefirst time. Ideally these axes intersect constituting two universaland one spherical joint. The insertion of imperfections in theseuniversal and spherical joints leads to more complex forwardand inverse kinematics which are solved in this paper. It is provedthat the equations used for the kinematics of the ideal Exechonrobot are no longer applicable when these offsets are added. Theconstraint system is also obtained and it is found to be differentto the one of the ideal case. Finally, the combination of offsetsthat lead to the largest deviation in the position of the parallelplatform is determined.
Original languageEnglish
Title of host publicationProceedings of the ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2019 August 18-21, 2019, Anaheim, CA, USA
PublisherThe American Society of Mechanical Engineers (ASME)
DOIs
Publication statusEarly online date - 25 Nov 2019
Eventthe ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference - Anaheim, Anaheim, United States
Duration: 18 Aug 201921 Aug 2019
https://event.asme.org/IDETC-CIE

Conference

Conferencethe ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
Abbreviated titleIDETC/CIE 2019
CountryUnited States
CityAnaheim
Period18/08/201921/08/2019
Internet address

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Keywords

  • Kinematics
  • Exechon
  • offset
  • Joint

Cite this

Lopez-Custodio, P. C., Dai, J., Fu, R., & Jin, Y. (2019). Kinematic analysis of the exechon robot accounting offsets in the accounting offsets in the joint axes. In Proceedings of the ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2019 August 18-21, 2019, Anaheim, CA, USA The American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2019-97423