Kinematics and workspace analysis of 4SPRR-SPR parallel robots

doi:10.1371/journal.pone.0239150

IR > 机电工程学院

	Kinematics and workspace analysis of 4SPRR-SPR parallel robots
	Luo, Lan 1; Hou, Li 1; Zhang, Qi 2; Wei, Yongqiao3 ; Wu, Yang 1
	2021-01-20
发表期刊	PLOS ONE
ISSN	1932-6203
卷号	16 期号:1
摘要	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.
DOI	10.1371/journal.pone.0239150
收录类别	SCOPUS ; SCIE
语种	英语
WOS研究方向	Science & Technology - Other Topics
WOS类目	Multidisciplinary Sciences
WOS记录号	WOS:000639428800062
出版者	PUBLIC LIBRARY SCIENCE
来源库	WOS
引用统计	被引频次[WOS]：0 [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/148945
专题	机电工程学院
通讯作者	Luo, Lan
作者单位	1.Sichuan Univ, Sch Mech Engn, Chengdu, Peoples R China; 2.Panzhihua Univ, Sch Intelligent Mfg, Panzhihua, Peoples R China; 3.Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou, Peoples R China
推荐引用方式 GB/T 7714	Luo, Lan,Hou, Li,Zhang, Qi,et al. Kinematics and workspace analysis of 4SPRR-SPR parallel robots[J]. PLOS ONE,2021,16(1).
APA	Luo, Lan,Hou, Li,Zhang, Qi,Wei, Yongqiao,&Wu, Yang.(2021).Kinematics and workspace analysis of 4SPRR-SPR parallel robots.PLOS ONE,16(1).
MLA	Luo, Lan,et al."Kinematics and workspace analysis of 4SPRR-SPR parallel robots".PLOS ONE 16.1(2021).

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Luo-2021-Kinematics （5760KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载