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Kinematics and workspace analysis of 4SPRR-SPR parallel robots
- Source :
- PLoS ONE, PLoS ONE, Vol 16, Iss 1, p e0239150 (2021)
- Publication Year :
- 2020
-
Abstract
- The 4SPRR-SPR parallel robot, which has considerable potential for application in the field of machining, is a novel closed-loop mechanism with a high rigid-weight ratio. Kinematics and workspace analyses of the 4SPRR-SPR parallel robot are key requirements for its application in machining. In this study, the inverse kinematics of the 4SPRR-SPR parallel robot is analyzed using a geometric method based on the mechanism arrangement of the robot. The forward kinematics model is derived by training the vector-quantified temporal associative memory (VQTAM) network, which originates from a self-organizing map (SOM). Furthermore, an improved algorithm is obtained by combining the locally linear embedding (LLE) and VQTAM methods. A boundary extraction algorithm for the workspace analysis of the parallel robot is proposed. The performance of the boundary extraction algorithm is analyzed and compared with that of a global search algorithm; the result indicates that the novel algorithm has the same computational accuracy in addition to higher efficiency. The workspace of the 4SPRR-SPR parallel robot is analyzed using the boundary extraction algorithm. Finally, the 3D model of the 4SPRR-SPR parallel robot is simulated using the ADAMS software to verify the reliability of the proposed algorithms. The simulation results demonstrate the effectiveness of the methods proposed in this study. In addition, the robot kinematics and workspace analysis methods described herein can be extended to other serial and parallel robots. This research provides a theoretical framework for trajectory planning of mechanisms, workspace optimization of robots, and robotic control.
- Subjects :
- 0209 industrial biotechnology
Kinematics
Computer science
02 engineering and technology
Machine Learning
020901 industrial engineering & automation
Search algorithm
Animal Cells
0202 electrical engineering, electronic engineering, information engineering
Neurons
Robot kinematics
Multidisciplinary
Robotic control
Physics
Applied Mathematics
Simulation and Modeling
Parallel manipulator
Classical Mechanics
Robotics
Biomechanical Phenomena
Physical Sciences
Medicine
Engineering and Technology
020201 artificial intelligence & image processing
Cellular Types
Algorithm
Robots
Algorithms
Research Article
Forward kinematics
Computer and Information Sciences
Neural Networks
Science
Acceleration
Workspace
Research and Analysis Methods
Computer Science::Robotics
Machine Learning Algorithms
Artificial Intelligence
Computer Simulation
Inverse kinematics
Mechanical Engineering
Reproducibility of Results
Biology and Life Sciences
Cell Biology
Surface Plasmon Resonance
Cellular Neuroscience
Robot
Software
Mathematics
Actuators
Neuroscience
Subjects
Details
- ISSN :
- 19326203
- Volume :
- 16
- Issue :
- 1
- Database :
- OpenAIRE
- Journal :
- PloS one
- Accession number :
- edsair.doi.dedup.....aeaf1e3f800896047359baa24e2c82ed