Detailed solution to a complex kinematics chain manipulator

Conference · Wed Jan 01 00:00:00 EST 1992

OSTI ID:7067949

March-Leuba, S; Jansen, J F; Kress, R L; Babcock, S M

This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE; USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 7067949
• Report Number(s): CONF-930519-6; ON: DE93004619
• Resource Relation: Conference: Institute of Electrical and Electronics Engineers international conference on robotics and automation, Atlanta, GA (United States), 2-7 May 1993
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MANIPULATORS
MATHEMATICAL MODELS
ALGORITHMS
DEGREES OF FREEDOM
GEOMETRY
JOINTS
NAVIGATION
REMOTE HANDLING EQUIPMENT
ROBOTS
ROTATION
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MATHEMATICS
MOTION
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers