Kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes

López-Custodio P. C.; J. Dai; Rao Fu; Yan Jin

doi:10.1115/1.4045942

Kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes

López-Custodio P. C., J. Dai, Rao Fu, Yan Jin

School of Mechanical and Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

15 Citations (Scopus)

272 Downloads (Pure)

Abstract

An Exechon robot with offsets between the axes of the joints that connect the legs to the fixed platform is analyzed for the first time. Ideally these axes intersect constituting two universal and one spherical joints. The introduction of imperfections in these universal and spherical joints leads to more complex forward and inverse kinematics, which are solved in this paper. It is proved that the equations used for the kinematics of the ideal Exechon robot are no longer applicable when these offsets are added. The constraint system is also obtained, and it is found to be different to the one of the ideal case. Finally, the combination of offsets that lead to the largest deviation in the position of the parallel platform is determined.

Original language	English
Article number	021109
Number of pages	14
Journal	Journal of Mechanisms and Robotics
Volume	12
Issue number	2
Early online date	06 Feb 2020
DOIs	https://doi.org/10.1115/1.4045942
Publication status	Published - Apr 2020

Keywords

parallel platforms
theoretical kinematics

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10.1115/1.4045942Licence: Unspecified

Kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes
© 2020 ASME. This manuscript version is made available under the CC-BY 4.0 license http://creativecommons.org/licenses/by/4.0/,which permits distribution and reproduction for non-commercial purposes, provided the author and source are cited.
Accepted author manuscript, 3.26 MBLicence: Unspecified

R1768MEE: Error-propagation Based Geometrical Quality Prediction and Control Strategy (Q-PreMan)
Jin, Y. (PI) & Murphy, A. (CoI)
03/04/2017 → 31/12/2020
Project: Research

Cite this

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title = "Kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes",

abstract = "An Exechon robot with offsets between the axes of the joints that connect the legs to the fixed platform is analyzed for the first time. Ideally these axes intersect constituting two universal and one spherical joints. The introduction of imperfections in these universal and spherical joints leads to more complex forward and inverse kinematics, which are solved in this paper. It is proved that the equations used for the kinematics of the ideal Exechon robot are no longer applicable when these offsets are added. The constraint system is also obtained, and it is found to be different to the one of the ideal case. Finally, the combination of offsets that lead to the largest deviation in the position of the parallel platform is determined.",

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AU - Fu, Rao

AU - Jin, Yan

PY - 2020/4

Y1 - 2020/4

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AB - An Exechon robot with offsets between the axes of the joints that connect the legs to the fixed platform is analyzed for the first time. Ideally these axes intersect constituting two universal and one spherical joints. The introduction of imperfections in these universal and spherical joints leads to more complex forward and inverse kinematics, which are solved in this paper. It is proved that the equations used for the kinematics of the ideal Exechon robot are no longer applicable when these offsets are added. The constraint system is also obtained, and it is found to be different to the one of the ideal case. Finally, the combination of offsets that lead to the largest deviation in the position of the parallel platform is determined.

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Kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes

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Keywords

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R1768MEE: Error-propagation Based Geometrical Quality Prediction and Control Strategy (Q-PreMan)

Cite this