dc.identifier.uri |
https://www.repo.uni-hannover.de/handle/123456789/12563 |
|
dc.identifier.uri |
https://doi.org/10.15488/12464 |
|
dc.contributor.author |
Schappler, Moritz
|
eng |
dc.date.accessioned |
2022-07-12T14:23:12Z |
|
dc.date.available |
2023-06-18T22:05:03Z |
|
dc.date.issued |
2022-06-18 |
|
dc.identifier.citation |
Schappler, M.: Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. In: Altuzarra, O.; Kecskeméthy, A. (Eds.): Advances in Robot Kinematics 2022. Springer : Cham, 2022 (Springer Proceedings in Advanced Robotics ; 24), S. 198-207. DOI: https://doi.org/10.1007/978-3-031-08140-8_22 |
eng |
dc.description.abstract |
Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and systematic kinematic description. For an efficient formulation of the inverse kinematics problem (IKP) an existing approach using intrinsic Z-Y′-X′′ Tait-Bryan angles for the rotational kinematic constraints is transferred from 3T3R PMs to 3T1R PMs. The adaption of the kinematics model for the five-DoF leg chains of symmetric 3T1R PMs is elaborated in detail. The presented application in a Newton-Raphson IK scheme with nullspace projection is validated within a dimensional synthesis of such PMs, already exploiting the redundancy. The framework is able to reproduce existing PMs from literature. Results show the dimensioning of PMs for an exemplary task. |
eng |
dc.language.iso |
eng |
eng |
dc.publisher |
Cham : Springer |
|
dc.relation.ispartof |
Advances in Robot Kinematics 2022 |
eng |
dc.relation.ispartofseries |
Springer Proceedings in Advanced Robotics;24 |
|
dc.rights |
Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. |
eng |
dc.subject |
Parallel robot |
eng |
dc.subject |
Parallel manipulator |
eng |
dc.subject |
3T1R |
eng |
dc.subject |
Functional redundancy |
eng |
dc.subject |
Kinematic constraints |
eng |
dc.subject |
Tait-Bryan angles |
eng |
dc.subject |
Euler angles |
eng |
dc.subject |
Dimensional synthesis |
eng |
dc.subject |
Konferenzschrift |
ger |
dc.subject.ddc |
620 | Ingenieurwissenschaften und Maschinenbau
|
eng |
dc.title |
Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators using Tait-Bryan-Angle Kinematic Constraints |
eng |
dc.type |
BookPart |
eng |
dc.type |
Text |
eng |
dc.relation.doi |
10.1007/978-3-031-08140-8_22 |
|
dc.bibliographicCitation.volume |
24 |
|
dc.bibliographicCitation.firstPage |
198 |
|
dc.bibliographicCitation.lastPage |
207 |
|
dc.description.version |
acceptedVersion |
eng |
tib.accessRights |
frei zug�nglich |
|