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

Authors:
Bijan Shirinzadeh;Mohsen Moradi Dalvand
Affiliations:
Monash University, Australia;Monash University, Australia
Venue:
International Journal of Intelligent Mechatronics and Robotics
Year:
2012

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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.