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Direct kinematic analysis of a heavy‐payload forging manipulator in the grasping stage

Direct kinematic analysis of a heavy‐payload forging manipulator in the grasping stage Purpose – The purpose of this paper is to present the direct kinematic analysis of a heavy‐payload forging manipulator. In the grasping stage, the manipulator is equivalent to a 3‐DOF under‐actuated mechanism. In order to deal with the direct position kinematics of the under‐actuated mechanism, the analysis is performed in two steps. Design/methodology/approach – The paper analyzes the direct position kinematics of the 3‐DOF under‐actuated mechanism as follows: first, the authors add a virtual constraint on the mechanism, convert it to a 2‐DOF fully actuated mechanism and calculate the direct kinematics of the constrained mechanism. Then, the constraint is applied to many different positions and the corresponding direct kinematics of the constrained mechanism are calculated, respectively. Finally, the mechanism with lower gravitational potential energy than any other constrained mechanism is chosen, and its direct position is what is needed for the 3‐DOF underactuated mechanism. Findings – The paper provides a solution for the direct kinematic analysis of a heavy‐payload forging manipulator in the grasping stage. Furthermore, the simulation and experiment results confirm the effectiveness of the solution. Originality/value – The paper proposes a methodology to deal with the direct position kinematics of the 3‐DOF under‐actuated mechanism in two steps. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Direct kinematic analysis of a heavy‐payload forging manipulator in the grasping stage

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References (21)

Publisher
Emerald Publishing
Copyright
Copyright © 2012 Emerald Group Publishing Limited. All rights reserved.
ISSN
0143-991X
DOI
10.1108/01439911211217134
Publisher site
See Article on Publisher Site

Abstract

Purpose – The purpose of this paper is to present the direct kinematic analysis of a heavy‐payload forging manipulator. In the grasping stage, the manipulator is equivalent to a 3‐DOF under‐actuated mechanism. In order to deal with the direct position kinematics of the under‐actuated mechanism, the analysis is performed in two steps. Design/methodology/approach – The paper analyzes the direct position kinematics of the 3‐DOF under‐actuated mechanism as follows: first, the authors add a virtual constraint on the mechanism, convert it to a 2‐DOF fully actuated mechanism and calculate the direct kinematics of the constrained mechanism. Then, the constraint is applied to many different positions and the corresponding direct kinematics of the constrained mechanism are calculated, respectively. Finally, the mechanism with lower gravitational potential energy than any other constrained mechanism is chosen, and its direct position is what is needed for the 3‐DOF underactuated mechanism. Findings – The paper provides a solution for the direct kinematic analysis of a heavy‐payload forging manipulator in the grasping stage. Furthermore, the simulation and experiment results confirm the effectiveness of the solution. Originality/value – The paper proposes a methodology to deal with the direct position kinematics of the 3‐DOF under‐actuated mechanism in two steps.

Journal

Industrial Robot: An International Journal – Emerald Publishing

Published: Apr 27, 2012

Keywords: Kinematics; Mechanical systems; Direct kinematics; Forging manipulator; Under‐actuated; Virtual constraint

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