Forward kinematic problem of two 4-RRUR with different geometric structures and one 4-RUU parallel robots

Varshovi-Jaghargh, Ppayam; Naderi, Davood; Varshovi-Jaghargh, Ppayam; Tale-Masouleh, Mehdi; Tale-Masouleh, Mehdi

Forward kinematic problem of two 4-RRUR with different geometric structures and one 4-RUU parallel robots

Authors

Ppayam Varshovi-Jaghargh ¹

Davood Naderi ²

Ppayam Varshovi-Jaghargh ¹

Mehdi Tale-Masouleh ³

¹ Bu Ali Sina Univ.

² Assistant Prof. of Mech. Eng., Bu Ali Sina Univ.

³ Assistant Prof. of Mech. Eng., Modern Science of Technology faculty, Tehran Univ.

Abstract

In this paper, the forward kinematic of the special cases of 4- R" R' R' R" R", 4- R" R" R" R' R' and 4- R" R" R' R' R" parallel mechanisms that respectively lead to two 4- R R U R with different geometric structures and one 4- R U U spatial 4-DOF parallel robots has been studied. They are originated from the type synthesis of 4-DOF parallel mechanisms with motion patterns of 3 T1R. Each of them is composed of four kinematic chains and each chain consists of five revolute joints. The directions of revolute joints have been different with each others that create three different geometrical structures. The forward kinematic problem is done in three dimensional Euclidean space and finally, a univariate mathematical expression of degree 344, 462 and 8 is indicated the forward kinematic problem of each parallel robot. Also, the results are compared with simulations.

Keywords

Spatial parallel robot

3T1R motion pattern

forward kinematic problem

Three-dimensional Euclidean space