TriM: An Ultra-Accurate High-Speed Six Degree-of-Freedom Manipulator Using Planar Stepper Motors |
| |
Authors: | P Krishnamurthy F Khorrami |
| |
Affiliation: | (1) Control/Robotics Research Laboratory (CRRL), Department of Electrical and Computer Engineering, Polytechnic University, Six Metrotech Center, Brooklyn, NY 11201, USA |
| |
Abstract: | In this paper, we propose a novel six degree-of-freedom positioning system. This mechanism is a tripod structure with inextensible
limbs actuated at the base by two-dimensional linear stepper motors (other types of actuators may also be utilized). This
manipulator has a closed-chain kinematic structure. Both the direct and the inverse kinematics of the manipulator are presented
in detail. While the inverse kinematics are obtained in closed form, the direct kinematics can not be solved in closed form
and an algorithm is provided for numerically computing the direct kinematic solution. A detailed dynamic model of the positioning
system is also provided. The dynamics of the actuators (Sawyer motors) are also included in the dynamic modeling. The design
of the tripod manipulator (TriM) included a kinematic optimization of the system parameters to maximize the manipulator workspace.
The proposed manipulator achieves large range of motion in all the 6 degrees of freedom. Furthermore, high resolution and
high speed motion may be achieved in all axes due to the actuators used and the direct-drive nature of the manipulator.
This work was supported in part by NSF under grants ECS-9977693 and ECS-0501539. An earlier version of this paper was presented
at the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, Oct. 2003. |
| |
Keywords: | Closed-chain manipulator Kinematics Dynamics Workspace optimization |
本文献已被 SpringerLink 等数据库收录! |
|