Algebraic insight on the concomitant motion of 3RPS and 3PRS PKMs

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Authors
Nigatu, Hassen
Yihun, Yimesker S.
Advisors
Issue Date
2020-04-21
Type
Conference paper
Keywords
PMs , Parasitic motion , IRS , IMS
Research Projects
Organizational Units
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Citation
Nigatu H., Yihun Y. (2020) Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMs. In: Larochelle P., McCarthy J. (eds) Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics. USCToMM MSR 2020. Mechanisms and Machine Science, vol 83:pp 242-252. Springer, Cham.
Abstract

This study presents an algebraic method to detect, count, and identify concomitant motions of parallel robots at the velocity level. The pose and orientation of moving platform of parallel manipulators (PMs) with f-DOF could be commonly described by f possible motion variables on the instantaneous motion space (IMS) and (6−f) (6−f) restriction motion variables on the instantaneous restriction space (IRS). However, in some situations, PMs moving platform may accompanied by a concomitant (parasitic) motions along the direction of restriction space. Therefore, the commonly understood one-to-one correspondence between joint space and task space mobility of non-redundant PMs would be compromised. This phenomenon occurred due to the fact that the alignment of screws can change the reciprocal screws while the given screw systems are still maintained. To demonstrate the proposed method, an amplitude-based concomitant motion comparison is performed on two widely utilized lower-mobility parallel mechanisms, 3RPS and 3PRS. The result has shown that for the selected mechanisms, concomitant motion is identical regardless of their difference in joint arrangements in each limbs.

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Publisher
Springer
Journal
Book Title
Series
Mechanisms and Machine Science;v.83
PubMed ID
DOI
ISSN
2211-0984
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