DESIGN, MOTION PLANNING, AND CONTROL OF A SPHERICAL PARALLEL MANIPULATOR WITH COAXIAL INPUT SHAFTS
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Date
2023-06
Authors
Tursynbek, Iliyas
Journal Title
Journal ISSN
Volume Title
Publisher
School of Engineering and Digital Sciences
Abstract
A special class of parallel manipulators, known as spherical parallel manipulators
(SPMs), can offer a t hree d egrees-of-freedom ( 3-DOF) p ure rotational
motion. Among the various 3-DOF SPMs that have been developed, the most
commonly used one is the 3-RRR type SPM. Many applications, such as machining,
target tracking, and object stabilization require full-circle or infinite roll
rotation from an SPM. Hence, this thesis aims to design a coaxial SPM with an
infinite r oll r otation f eature, which could b e used in such applications.
The thesis starts with a kinematic analysis of the proposed coaxial SPM
model, providing methods and algorithms for obtaining unique solutions to the
forward and inverse kinematic problems. Then, it is followed by a numerical estimation
of its Cartesian workspace and configuration space ensuring no singular
configurations o r c onfigurations wi th li nk co llisions. To pe rform li nk collision
checks, a simulation model of the coaxial SPM was created in the CoppeliSim
robot simulator for the first t ime. It was found that for the given SPM geometry
its maximum tilt is equal to 39∘.
Then, a convex approximation of the obtained configuration s pace w as obtained.
Subsequently, it was used in a constrained control for external target
tracking with joystick, and object stabilization based on the IMU orientation
sensor measurements.
Results presented in this work are supplemented with examples, and the final
prototype of the functional motion control system based on a coaxial SPM
structure is presented.
Description
Keywords
Type of access: Embargo, Spherical Parallel Manipulator
Citation
Tursynbek, I. (2023). Design, Motion Planning, and Control of a Spherical Parallel Manipulator with Coaxial Input Shafts. School of Engineering and Digital Sciences