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(1.2)
Pentru structurile paralele simetrice cu lanuri cinematice identice se pot folosi urmtoarele
ecuaii:
1, ( 1, 2, ... 5)
i i
N k n C k c i = + = =
(1.3)
Folosind relaia (1.3), numrul elementelor unui lan cinematic de ghidare rezult din (1.2)
| | { }
5 4 3 2 1
1
(6 ) (5 ) (4 ) (3 ) (2 ) (1 )
(6 )
n M F k F c F c F c F c F c
k F
= + + + + +
(1.4)
Pentru M=6-F numrul de elemente ale unui lan de ghidare al platformei este independent
de numrul k de lanuri de ghidare:
| |
5 4 3 2 1
1
(5 ) (4 ) (3 ) (2 ) (1 )
(6 )
n F c F c F c F c F c
F
= + + + +
(1.5)
n cazul n care mecanismul paralel are doar cuple de clasa a 5-a, adic:
4 3 2 1 4 3 2 1
0, 0 C C C C c c c c = = = = = = = =
(1.6)
Ecuaiile (1.1), (1.2), (1.3) i (1.4) devin:
5
(6 ) (5 ) M F N F C =
(1.7)
| |
5
1
(5 )
6
N M F C
F
=
(1.8)
| |
5
1
(6 ) (5 )
(6 )
n M F k F c
k F
= +
(1.9)
5
5
6 ;
6
F
M F n c
F
= =
(1.10)
Ecuaiile (1.1), respectiv (1.7) reprezint relaiile pentru analiza structural a mecanismelor
paralele simetrice i asimetrice, (1.2) i (1.8) reprezint ecuaiile de sintez pentru
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
54
mecanismele paralele asimetrice n timp ce (1.4) i (1.5) respectiv (1.9) i (1.10) sunt ecuaiile
folosite pentru sinteza structural a mecanismelor paralele simetrice.
1.6 Motivaie
Prin definiie, robotul este un dispozitiv electro-mecanic cu mai multe grade de libertate (GDL)
care este programabil pentru a ndeplini o multitudine de sarcini. O definiie mai complet a
roboilor este dat de Organizaia Internaional de Standardizare ISO 8373: un manipulator
controlat automat, reprogramabil, multifuncional, programabil n trei sau mai multe axe, care
poate fi fixat sau mobil, folosit pentru aplicaii industriale de automatizare.
Roboii industriali sunt folosii n din ce n ce mai multe domenii din industrie, acolo unde
nlocuiesc operatorii umani de la aciuni repetitive sau periculoase. De ce sunt folosii roboii?
Pentru ca acetia nu obosesc, nu se plng, nu au probleme de sntate (cu excepia
operaiilor de ntreinere), sunt mai puternici, mai rapizi, mai precii, mai productivi, pot munci
24 de ore pe zi i sunt imuni la mediile cu grad mare de toxicitate i periculozitate.
De ce mai este atunci nevoie de operatori umani? In primul rnd pentru c oamenii fac roboii
i nu invers. Apoi, oamenii se pot adapta problemelor i mediului nconjurtor, ei iau deciziile,
stabilesc prioritile i definesc obiectivele, sunt inovativi, etc.
Dac la nceput domeniile n care se foloseau roboii erau foarte puine, acum roboii se
folosesc n: agricultur, industria de automobile, divertisment, medicina (chirurgie, cercetare),
laboratoare de tiin sau inginerie, supraveghere, patrulare, inspecie, armat (pentru atac
sau supraveghere), explorare, excavaii, transport (aerian, terestru, spaiu), utiliti (gaz, ap,
electricitate), fabricaie. n concluzie roboii n epoca modern sunt folosii oriunde este prea
periculos, plictisitor sau murdar pentru oameni.
Majoritatea roboilor folosii astzi sunt roboii seriali, care folosesc o aranjare serial a
elementelor lor cinematice, asociate cu motoarele. Datorit faptului c motoarele nu sunt
aezate pe batiu, roboii seriali tind s aib un raport deficitar ntre masa manipulat i masa
robotului, precum i o performan dinamic (din punct de vedere al vitezelor) inferioar celor
paraleli.
1. Introducere
55
Aceste puncte tari ale roboilor paraleli nu sunt de ajuns. Datorit schimbrilor rapide de pe
pia s-a simit nevoia unei mai mari flexibiliti, a reconfigurrii roboilor.
Astfel apare i motivaia cercetrilor ntreprinse n cadrul acestei teze, sistemul dezvoltat aici
urmrete s realizeze un nou robot paralel reconfigurabil, cu performane ridicate, cu o
funcionalitate ridicat n comparaie cu roboii paraleli clasici. Aceast structur se dorete a
fi una flexibil, posibil s fie integrat n mai procese de producie diferite.
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
56
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
57
Capitolul 2. Dezvoltarea unui robot paralel reconfigurabil cu dou pn la
ase grade de mobilitate. Reconfigurabilitate
Caracteristicile care au fost avute n vedere n realizarea schemei de principiu a robotului au
fost:
Robotul trebuie s aib dimensiuni cat mai reduse;
Structura rezultat trebuie sa fie rigid i stabil;
Crearea unei structuri modulare;
S existe posibilitatea reconfigurrii robotului de la 6 grade de mobilitate la 5, 4, 3 sau
2;
Utilizarea motoarelor liniare pentru o mai bun precizie a robotului, din acelai motiv,
cuplele active sunt plasate pe batiu;
Structura rezultat (fig. 2.1) a fost denumit RECROB (REConfigurable ROBot) i este
propus spre brevetare, [PLI 11b], propunere n care autorul tezei este coautor.
Fig. 2.1 Modelul CAD al robotului Recrob
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
58
Trebuie menionat faptul c n cadrul configuraiilor robotului, dei unele motoare se elimin
din construcia acestuia, ele se pstreaz ca i cuple pasive, avnd scop de rigidizare i nu
se vor lua n calcul.
2.1 Reconfigurabilitate
2.1.1 Configuraia robotului Recrob n cazul n care M=6 GDL
Robotul Recrob poate fi reconfigurat static. Astfel modelul de baz, prezentat n fig. 2.2 are 6
GDL, dar poate fi reconfigurat astfel nct s aib 5, 4, 3 sau 2 grade de mobilitate. Aceste
configuraii pot fi obinute prin blocarea unuia sau a mai multor motoare i prin impunerea
unei constrngeri astfel abinndu-se gradul de libertate dorit. Schema cinematic din fig. 2.2
reprezint configuraia robotului paralel Recrob n cazul n care acesta are 6 GDL.
Robotul are trei lanuri cinematice identice, fiecare avnd n componena sa un motor de
rotaie, i unul de translaie care reprezint cuplele active ale fiecrui lan cinematic. Cele trei
lanuri cinematice fac legtura ntre platforma fix i platforma mobil prin intermediul cuplelor
sferice poziionate n punctele
i
A . Funcionalitatea unui lan cinematic este descris n
continuare: motorul rotativ nvrte arborele canelat pe care este fixat braul orizontal
, 1,2,3
i i
D A i = , acesta rotindu-se odat cu arborele. Tot asupra braului , 1,2,3
i i
D A i =
acioneaz i motorul liniar, care se deplaseaz pe calea de rulare. Motorul liniar conine o
buc n care intr i braul orizontal , 1,2,3
i i
D A i = , care ns nu are caneluri, permind
astfel rotaia arborelui canelat independent de motorul liniar.
Aceast funcionare se extinde n mod identic la cele trei lanuri cinematice ale robotului, i
prin micarea combinat a celor ase motoare, trei rotative i trei liniare se asigur
poziionarea i orientarea platformei mobile n spaiul cartezian. Cele trei lanuri cinematice
sunt dispuse n forma unui triunghi dreptunghic, n care
' ' ' '
1 2 2 3
BB B B .
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
59
Fig. 2.2 Schema cinematic Recrob M=6 GDL
Structura prezentat n fig. 2.2 are 6 grade de libertate, trei translaii dup axele OX, OY, OZ
i trei rotaii n jurul axelor: OZ, cu unghiul , OY* cu unghiul u i oz* cu unghiul . Sistemul
OXYZ reprezint sistemul de coordonate fix, oxyz este sistemul de coordonate mobil, iar
E E E
Ex y z sistemul de coordonate mobil aparinnd punctului E punctul caracteristic al
mecanismului de prehensiune. Trebuie menionat faptul c platforma mobil, iniial conceput
sub forma triunghiular, a fost reconceput ca fiind format din trei bare omogene pentru a
simplifica modelul dinamic al robotului ce urmeaz a fi prezentat n capitolele urmtoare.
Gradul de mobilitate al structurii din fig. 2.2 se poate calcula cu relaia [PLI 92]:
( ) ( ) ( ) ( ) ( ) ( )
5 4 3 2 1
6 5 4 3 2 1 M F N F C F C F C F C F C =
(2.1)
Unde, M reprezint gradul de mobilitate al mecanismul, F este familia mecanismului (numrul
constrngerilor comune tuturor elementelor mecanismului), N este numrul elementelor
f=3
f=3
f=3
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
60
mobile iar
i
C constituie numrul cuplelor de clasa i. De menionat faptul c in ecuaia de mai
sus coeficienii (1 ), ..., (6 ) F F nu pot lua valori negative.
Familia mecanismului reprezint numrul de restricii comune tuturor elementelor
mecanismului. Familia mecanismului din fig. 2.2 este ilustrat n tabelul 2.1, unde Tx, Ty, Tz
reprezint translaiile de-a lungul axelor X, Y, respectiv Z, iar Rx, Ry, Rz reprezint rotaiile
de-a lungul axelor X, Y, respectiv Z. Pentru simplificare cele dou motoare de pe fiecare lan
cinematic, sunt nlocuite cu o cupl cilindric.
Micri posibile Element
T
x
T
y
T
z
R
x
R
y
R
z
1 - - + - - +
2 - - + - - +
3 - - + - - +
4 + + + - - +
5 + + + - - +
6 + + + - - +
7 + + + + + +
Tabel 2.1 Analiza micrilor posibile ale elementelor structurii robotului Recrob
n tabelul 2.1 se observ c mecanismul nu blocheaz nici o micare pentru toate elementele
componente ale structurii, deci familia mecanismului este zero.
0 F = (2.2)
Parametrii rezultai sunt:
5
0, 4, 6 F N C = = =
(2.3)
3
6 3 24 18 6 M N C = = =
(2.4)
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
61
2.1.2 Configuraia robotului Recrob pentru M=5 GDL
Fig. 2.3 Schema cinematic Recrob M=5 GDL
Fig. 2.3 prezint prima variant de reconfigurare a structurii de baz, Recrob, care are cinci
grade de mobilitate, asupra ei aplicndu-se constrngerea geometric
5 6
q q = . Pentru
aceasta cupla activ q6 devine cupl pasiv i n construcie motorul liniar 6 se nlocuiete cu
un elementul liniar pasiv, care execut o micare liniar pasiv pe calea de rulare, care are
doar rol de rigidizare i nu se ia n calcul. Elementul liniar pasiv este conectat la motorul liniar
din imediata vecintate printr-o tij care asigur astfel constrngerea geometric
5 6
q q = . n
acest fel, la nivelul punctului E vor exista cinci grade de mobilitate, rotaia a treia, cu n jurul
axei
*
z fiind suprimat. Astfel pentru structura din fig. 2.3 exist cinci coordonate active
1 2 3 4 5
, , , , q q q q q , care determin valorile celor 5 parametrii ai punctului E - , , , ,
E E E
X Y Z u .
Pentru calculul mobilitii acestei configurri a robotului Recrob, s-a considerat faptul c dou
dintre cele trei lanuri cinematice sunt considerate ca fiind cuple de clasa a treia, iar lanul
f=3
f=3
f=2
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
62
cinematic rmas ca fiind o cupl de clasa a doua. Parametrii rezultai pentru calculul
mobilitii sunt:
4 3
0, 4, 1, 5 F N C C = = = =
(2.5)
Folosind ecuaia (2.1) rezult gradul de mobilitate al structurii:
5 M = (2.6)
2.1.3 Configuraia robotului Recrob pentru M=4 GDL
Fig. 2.4 Schema cinematic Recrob M=4 GDL
Fig. 2.4 prezint o alt variant de reconfigurare a structurii de baz, Recrob, care are patru
grade de mobilitate, asupra ei aplicndu-se constrngerea geometric
4 5 6
q q q = = . Pentru
aceasta cuplele active
4
q i
6
q devin cuple pasive i n construcie motoarele liniare din
extreme se nlocuiesc cu elemente liniare pasive, care execut o micare liniar pasiv pe
cile lor de rulare. Aceste elementele liniare pasive sunt conectate la motorul liniar 5 prin cte
f=3
f=2
f=2
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
63
o tij care asigur astfel constrngerea geometric
4 5 6
q q q = = . n acest fel, la nivelul
punctului E vor exista patru grade de mobilitate, trei translaii, i rotaia proprie, cu n jurul
axei Z' . Astfel pentru structura din fig. 2.4 exist patru coordonate active
1 2 3 4
, , , q q q q , care
determin valorile celor 4 parametrii ai punctului E - , , ,
E E E
X Y Z .
Pentru configuraia cu 4 GDL se nlocuiesc fictiv lanurile cinematice din extreme cu cuple de
clasa a patra, lanul cinematic dintre cele dou extreme fiind echivalent cu o cupl de clasa a
treia.
n acest caz, gradul de mobilitate al structurii se calculeaz cu formula (2.1) mpreun cu
urmtorii parametrii geometrici:
4 3
0, 4, 2, 4 F N C C = = = =
(2.7)
Deci, folosind formula (2.1) va rezulta:
4 M = (2.8)
2.1.4 Configuraia robotului Recrob pentru M=3 GDL (translaie spaial)
Fig. 2.5 reprezint o structur spaial cu orientarea constant a platformei mobile. Pentru a
obine aceast configuraie, se aplic urmtoarele constrngeri:
1)
4 5 6
q q q = = ;
Acest lucru se obine constructiv astfel: cuplele active
4
q i
6
q devin cuple pasive i n
construcie motoarele liniare aferente lor se nlocuiesc cu elemente liniare pasive, care
execut o micare liniar pasiv pe cile lor de rulare. Elementele liniare pasive sunt
conectate la motorul liniar 5 prin cte o tij care asigur astfel constrngerea geometric
4 5 6
q q q = = ;
2)
2 3
q q = ;
Acest lucru se obine prin eliminarea motorul rotativ 3, i introducerea unui element de
legtur, ntre cuplele de rotaie dintre perechile de braele orizontale, care va crea astfel
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
64
paralelogramele
2 2 3 3
B D B D i
2 2 3 3
A D A D . Prin acionarea motoarelor rotative rmase se va
realiza poziionarea n planul
2
xA y a punctului E, avnd orientarea constant, n timp ce
motorul liniar 5 va asigura deplasarea pe axa z. Astfel pentru structura din fig. 2.5 exist trei
coordonate active
1 2 3
, , q q q , care determin valorile celor 3 parametrii ai punctului E -
, ,
E E E
X Y Z .
Fig. 2.5 Schema cinematic Recrob M=3 GDL (translaie spaial)
Parametrii corespunztori pentru calculul gradului de mobilitate cu formula (2.1) sunt:
4 3 5
0, 4, 1, 4, 1 F N C C C = = = = =
(2.9)
Deci din ecuaia (2.1) rezult:
3 M = (2.10)
f=1
f=2
f=3
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
65
2.1.5 Configuraia robotului Recrob pentru M=3 GDL (micare plan)
Fig. 2.6 reprezint o structur plan cu trei grade de mobilitate permind poziionarea i
orientarea platformei mobile ntr-un plan paralel cu planul fix OXY. Pentru a obine aceast
configuraie, din configuraia de baz din fig. 2.2, se aplic urmtoarea constrngere:
4 5 6 0
q q q z = = = ; Acest lucru se obine constructiv astfel: cuplele active
4
q ,
5
q i
6
q devin
cuple pasive i n construcie motoarele liniare 4, 5 i 6 se fixeaz la aceeai cot pe axa Z a
planului OXYZ, dimensiune notat cu
0
z . Astfel prin acionarea motoarelor rotative 1, 2 i 3
se va realiz poziionarea i orientarea n planul
2
xA y a punctului E. Astfel pentru structura
din fig. 2.6 exist trei coordonate active
1 2 3
, , q q q , care determin valorile celor 3 parametrii ai
punctului E - , ,
E E
X Y .
Fig. 2.6 Schema cinematic Recrob M=3 GDL (micare plan)
Pentru calculul mobilitii al acestei structuri, un mecanism plan, ecuaia (2.1) devine:
5 4
3 2 M N C C =
(2.11)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
66
Parametrii sunt:
5
3, 7, 9 F N C = = =
(2.12)
Din ecuaia (2.11) rezult:
5
3 2 3 M N C = =
(2.13)
2.1.6 Configuraia robotului Recrob pentru M=2 GDL
n fig. 2.7 se prezint o structur plan cu orientarea constant a platformei mobile, care se
menine ntr-un plan paralel cu planul fix OXY. Pentru a obine aceast configuraie, din
configuraia de baz din fig. 2.2, se aplic urmtoarele constrngeri:
1)
4 5 6 0
q q q z = = = ; Acest lucru se obine constructiv astfel: cuplele active
4
q ,
5
q i
6
q devin
cuple pasive i n construcie motoarele liniare se fixeaz la aceeai cot pe axa Z a planului
OXYZ, dimensiune notat cu
0
z ; elementul de fixare s-a notat cu 24;
2)
2 3
q q = ; Acest lucru se obine prin eliminarea unui motorul rotativ i introducerea unui
element de legtur, ntre cuplele de rotaie care va crea astfel paralelogramele
2 2 3 3
B D B D i
2 2 3 3
A D A D .
Parametrii pentru calcul mobilitii sunt:
5
3, 4, 5 F N C = = =
(2.14)
Folosind formula de calcul a mobiliti mecanismelor plane (2.11) i parametrii (2.14) rezult:
5
3 2 2 M N C = =
(2.15)
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
67
Fig. 2.7 Schema cinematic Recrob M=2 GDL
Au fost prezentate astfel 6 variante constructive de roboi cu diferite configuraii i grade de
mobilitate, derivate dintr-o structur de baz, prezentat n fig. 2.1. Trecerea de la o
configuraie la alta se poate face i progresiv, adugnd constrngeri suplimentare sau
aplicnd direct setul de constrngeri prezentat pe structura de baz. Se obin astfel structuri
optimizate pentru diferite aplicaii asigurnd o funcionare optim i un cost optim n
exploatare.
2.2 Modelul geometric al robotului Recrob
n acest subcapitol este prezentat modelul geometric al robotului Recrob precum i al tuturor
configuraiilor sale. Calculele numerice ale modelului geometric, necesare mai departe pentru
studiul cinematic i dinamic al structurii au fost realizate n Pachetul Software Matlab.
n calculul modelului geometric s-au folosit urmtorii parametrii geometrici ai robotului:
-
1 2 3 i
e e e e = = = - lungimea braelor orizontale din imediata apropiere a end-efectorului;
f=2
f=2
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
68
-
1 2 3 i
d d d d = = = - lungime braelor orizontala din imediata apropiere a coloanelor
verticale ale robotului;
- p - lungimea laturii mici a triunghiului format de punctele
1 2 3
, , A A A specifice platformei
mobile
- coordonatele punctelor
1 2 3
, , B B B n raport cu sistemul de coordonate fix OXYZ ;
- coordonatele punctelor
1 2 3
, , A A A n raport cu sistemul de coordonate mobil oxyz;
- coordonatele punctului E n raport cu axele sistemului mobil legat de end-efector oxyz;
2.3 Modelul geometric invers
n cazul modelului geometric invers, pentru cazul general, coordonatele generalizate ale end-
efectorului , , , , ,
E E E
X Y Z u (unde , , u sunt unghiurile lui Euler n raport cu axele
' * *
ZY z ) i
urmeaz s se gseasc coordonatele cuplelor motoare , 1, ,6
i
q i = .
2.3.1 Modelul geometric invers al robotului Recrob pentru M=6 GDL
Unghiurile dintre axele sistemului mobil oxyz legat de efectorul final i sistemul fix OXYZ sunt
determinate de tabloul:
2 2 2
A x A y A z
OX c ' c '' c '''
OY c ' c '' c '''
OZ c ' c '' c '''
o o o
| | |
(2.16)
Coordonatele punctelor , 1,2,3
i
A i = aparinnd platformei pot fi determinate de relaia
urmtoare, care arat c proiecia unui vector n sistemul de coordonate fix, este egal cu
proiecia acelui vector n sistemul de coordonate mobil nmulit cu matricea de orientare
(2.16).
1,2,3
i i
i i
i i
A E A E
A E A E
A E A E
X X x x
c c c
Y Y c c c y y i
c c c
Z Z z z
o o o
| | |
( (
' '' '''
(
( (
(
' '' ''' = =
( (
(
( (
( ' '' '''
( (
(2.17)
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
69
Deci coordonatele punctelor , 1,2,3
i
A i = vor fi:
, 1,2,3
i i
i i
i i
A A E
E
A E A E
E
A A E
X x x
X c c c
Y Y c c c y y i
c c c Z
Z z z
o o o
| | |
( (
= + +
= + + =
(2.21)
Coordonatele generalizate ale robotului
3
, 1,2,3
i
q i
+
= sunt egale cu coordonatele Z ale
punctelor
i
A (conform ultimei relaii din (2.21)).
3
, 1,2,3
i
i A
q Z i
+
= =
(2.22)
unde
i
A
Z sunt exprimate n relaia (2.18).
Pentru determinarea celorlalte coordonate: , 1,2,3
i
q i = se pleac de la relaia:
2 2 2 2
( ) ( ) ( ) 0, 1,2,3
i i i i i i
A D A D A D i
X X Y Y Z Z e i + + = =
(2.23)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
70
Dar:
i i
A D
Z Z = deci relaia (2.23) devine:
2 2 2
( ) ( ) 0, 1,2,3
i i i i
A D A D i
X X Y Y e i + = =
(2.24)
Coordonatele punctelor
i
D sunt egale cu:
3
1,2,3
i i
i i
i
D B i i
D B i i
D i
X X d cq
Y Y d sq i
Z q
+
= +
= + =
(2.25)
Dup nlocuirea relaiilor (2.25) n ecuaia (2.24) rezult dup reducerea i gruparea
termenilor asemenea:
( ) ( ) ( ) ( )
2 2
2 2
1
,
2
1,2,3
i i i i i i i i
A B i A B i A B A B i i
i
X X cq Y Y sq X X Y Y d e
d
i
(
+ = + +
(
=
(2.26)
Se fac notaiile:
( )
( )
( ) ( )
2
2
2 2
2 2
1,2,3
1
2
i i
i i
i i i i
i A B
i A B
i A B A B i i
i
a X X
b Y Y i
c X X Y Y d e
d
= =
(
= + +
(
(2.27)
Cu notaiile (2.27), ecuaia (2.26) se poate scrie:
, 1,2,3
i i i i i
a cq b sq c i + = =
(2.28)
Pentru rezolvarea ecuaiei transcendente (2.28) se face referire la schia din fig. 2.8:
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
71
Fig. 2.8 Schi lan cinematic planul XOY
n fig. 2.8 avem:
2 2
i i
i i
i i i
a r s
b r c
r a b
o
o
= +
(2.29)
Cu relaiile (2.29), relaia (2.28) devine:
i i i i i
r s cq r c sq c o o + =
(2.30)
Ecuaia (2.30) poate fi scris i sub forma:
( )
i
i
i
c
s q
r
o + =
(2.31)
Folosind relaia (2.31) putem scrie c:
2
( ) 1
i
i
i
c
c q
r
o
| |
+ =
|
\ .
(2.32)
Folosind relaiile (2.31) i (2.32) se poate scrie c:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
72
2
1
( )
1
i
i
i
i
i
c
tg q
r
c
r
o + =
| |
|
\ .
(2.33)
Din relaia (2.33) rezult:
( )
2 2
atan2 ,
i i i i
q c r c o + =
(2.34)
Dar, conform figurii (2.8): atan2( , )
i i
a b o = i folosind expresia lui
i
r din ecuaia (2.29), rezult
expresia coordonatelor motoare , 1,2,3
i
q i = ale robotului.
2 2 2
atan2( , ) atan2( , )
i i i i i i i
q c a b c a b = + (2.35)
Problema semnului
n relaia (2.35) avem dou posibiliti de calcul a coordonatelor motoare , 1,2,3
i
q i = datorit
semnului plus sau minus din faa radicalului. Ambele variante sunt corecte. Problema este c
ntre ele exist cel puin un punct de singularitate. Astfel, structura din fig. 2.2 are singulariti
de ordinul I atunci cnd segmentele A
i
D
i
sunt coliniare cu segmentele D
i
B
i
. O reprezentare
grafic a acestui lucru se gsete n fig. 2.9 de mai jos, n care este prezentat doar un lan
cinematic avnd n vedere c toate cele trei lanuri cinematice sunt identice, dei nu sunt
simetrice.
Fig. 2.9 Recrob singularitate de ordinul I
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
73
Cazul singularitii, prezentat mai sus, mparte modelul geometric n dou configuraii. Prima
ar fi atunci cnd coordonatele motoare , 1,2,3
i
q i = sunt msurate n sens anti-orar fa de
axa OX. Aceasta este i configuraia aleas n calculele urmtoare. A doua variant, din fig.
2.10, ar fi aceea cnd coordonatele motoare , 1,2,3
i
q i = sunt msurate n sens orar.
Fig. 2.10 Schem cinematic Recrob configuraie diferit(M=6GDL)
Algoritmul n cazul modelului geometric invers n cazul general cnd robotul are 6 GDL este
prezentat n tabelul 2.2.
Date
, , , , ,
E E E
X Y Z u
Constante
, , , , , , , , 1,2,3
Ai Ai Ai E E E Bi Bi
x y z x y z X Y i =
Necunoscute
1 2 3 4 5 6
, , , , , q q q q q q
Variabile Relaii de determinare
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
74
c ', c '', c '''
c ', c '', c '''
c ', c '', c '''
o o o
| | |
' '' '''
' '' '''
' '' '''
c c c c s s c c c s s c c c s
c s c c c s c s c s c c c s s
c s c c s s c c
o u o u o u
| u | u | u
u u u
= = =
= + = + =
= = =
Ai Ai Ai
X , Y , Z
i 1, 2, 3 =
, 1,2,3
i i
i i
i i
A A E
E
A E A E
E
A A E
X x x
X c c c
Y Y c c c y y i
c c c Z
Z z z
o o o
| | |
( (
= =
(2.51)
Prin ridicarea la ptrat i adunarea primelor dou relaii din ecuaia (2.51) rezult:
( ) ( )
2 2
2
, 1,2,3
i i i i
A B i i A B i i i
X X d cq Y Y d sq e i
( (
+ = =
(2.52)
nlocuind coordonatele punctelor , 1,2,3
i
A i = exprimate cu ajutorul relaiilor (2.18) n relaia
(2.52) rezult sistemul de ecuaii implicit al robotului:
( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( )
2
2 2
3 3
[ ' '' ''' ] [ '
'' ''' ] 0
' '' ''' 0
1,2,3
i i i
i i i
i i i
i E A E A E A E Di E A E
A E A E D i
i E A E A E A E i
F X x x c y y c z z c X Y x x c
y y c z z c Y e
F Z x x c y y c z z c q
i
o o o |
| |
c
+ +
+ + + + + +
+ =
+ + + =
(2.53)
Sistemul de ecuaii (2.53) poate fi scris i sub forma:
1 1
1 1 1
1 1 1
2 2
1
2
1 1
2 2
1 1 1
2
[ ( )( ) ( )( )
( )( ) ] [ ( )( )
( )( ) ( )( ) ] 0
[ ( )( ) ( )(
E A E A E
A E B E A E
A E A E B
E A E A E
F X x x c c c s s y y c c s s c
z z c s X d cq Y x x s c c c s
y y s c s c c z z s s Y d sq e
F X x x c c c s s y y c
u u
u u
u u
u
+ + +
+ + + +
+ + =
+ +
2 2 2
2 2 2
3 3
3 3
2
2 2
2 2
2 2 2
3
2
3 3
)
( )( ) ] [ ( )( )
( )( ) ( )( ) ] 0
[ ( )( ) ( )( )
( )( ) ] [
A E B E A E
A E A E B
E A E A E
A E B
c s s c
z z c s X d cq Y x x s c c c s
y y s c s c c z z s s Y d sq e
F X x x c c c s s y y c c s s c
z z c s X d cq
u
u u
u u
u u
u
+
+ + + +
+ + =
+ + +
+
( )( )
( )
( ) ( )
3
3 3 3
1
3
2 2
3 3 3
4 4
5 5
6 6
( )( )
( )( ) ( )( ) ] 0
0
0
0
E A E
A E A E B
E A E E E
E E E E
E E A E E
Y x x s c c c s
y y s c s c c z z s s Y d sq e
F Z x x s c y s s z c q
F Z x s c y s s z c q
F Z x s c y y s s z c q
u
u u
u u u
u u u
u u u
+ + +
+ + =
+ =
+ =
(2.54)
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
79
Sistemul de ecuaii (2.54) este un sistem de ecuaii neliniar, o soluie analitic a acestuia fiind
foarte greu de obinut, s-a ncercat deci o abordare numeric. Exist multe metode de
rezolvare numeric a sistemelor de ecuaii neliniare: metoda biseciei (a njumtirii
intervalului), metoda Newton-Raphson, metoda aproximaiilor succesive, metoda secantei(a
coardei), metoda lui Lobacevski i metoda lui Bairstow [RUS 06] i [URS 00]. Dintre acestea,
a fost aleas Metoda Newton-Raphson.
n cazul general al robotului Recrob cnd M=6 GDL, exist dou posibiliti de determinare a
coordonatelor generalizate ale end-efectorului , , , , ,
E E E
X Y Z u . Prima ar fi s aplicm
metoda Newton-Raphson pentru toate cele ase ecuaii ale sistemului (2.54). Dezavantajul
acestei metode este ca timpul de calcul este destul de mare. A doua metod este s se
aplice metoda Newton-Raphson doar pentru primele trei ecuaii ale sistemului (2.54), avnd
n vedere c ultimele ecuaii ale sistemului,
3
, 1,2,3
i
F i
+
= , sunt ecuaii transcendente care duc
la soluii liniare. Acest avantaj permite reducerea timpului de calcul la cel puin jumtate din
timpul de calcul al primei metode. Algoritmul este descris n cele ce urmeaz:
Dac se scade ecuaia F4 din ecuaia F5, dup reducerea termenilor rezult:
1
5 4
A
q q
s c
x
u
=
(2.55)
Dac ns scdem ecuaia F4 din ecuaia F6, dup reducerea termenilor rezult:
3
6 5
A
q q
s s
y
u
=
(2.56)
Dup ridicarea la ptrat i adunarea relaiilor (2.54) i (2.55), putem face notaia:
1 3
2 2
5 4 6 5
1
A A
q q q q
s u
x y
u
| | | |
= = + | |
| |
\ . \ .
(2.57)
Folosind notaia (2.57), rezult c cu poate fi exprimat astfel:
2
1 1
1 c w u u = = (2.58)
De menionat faptul c din punct de vedere constructiv, unghiul u este ascuit, rezult c i
sinusul unghiului este pozitiv (vezi platforma mobil din figurile 2.2, , 2.7), dintre cele dou
valori ale lui u
1
, respectiv u
2
se va alege deci varianta cu +, n modelul matematic.
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
80
Avnd expresiile (2.57) i (2.58) putem exprima unghiul u astfel:
( )
1 1
atan2 , u w u = (2.59)
Dac s este extras din ecuaia (2.56), avem:
3
6 5
3
1 A
q q
u s
y u
= =
(2.60)
Folosind expresia (2.55), rezult c:
1
5 4
3
A
q q
w c
x
= =
(2.61)
Folosind relaiile (2.60) i (2.62), putem exprima unghiul poate fi exprimat funcie de atan2
astfel:
( )
3 3
atan2 , u w = (2.62)
Avnd expresia analitic a unghiurilor i u , putem obine coordonata generalizat
E
Z din
oricare din ecuaiile
3
, 1,2,3
i
F i
+
= . Dac
E
Z este extras din ecuaia F
5
, va avea urmtoarea
form, folosind notaiile (2.57), (2.58), (2.60) i (2.61):
1 3 1 3 1 5 E E E E
Z x u u y u u z w q = + + +
(2.63)
Avnd astfel o expresia analitic a trei dintre cele ase coordonate generalizate ale end-
efectorului, putem trece la gsirea celorlalte necunoscute ale sistemului (2.54), folosind
metoda iterativ Newton-Raphson.
Folosind notaiile (2.57), (2.58), (2.60) i (2.61), ultimele trei ecuaii ale sistemului (2.54) pot fi
scrise sub forma:
1 1 1 1
1 1 1 1
2 2
2
4 1 3 3 1 3 1 1
2
2
1 3 3 1 3 3 1 1
5 1 3 3 1 3 1
( )( ) ( )( ) ( )
( )( ) ( )( ) ( ) 0
( )( ) ( )( ) (
E A E A E A E D
E A E A E A E D
E A E A E
F X x x c w w s u y y c w u s w z z c u X
Y x x s w w c u y y s w u c w z z s u Y e
F X x x c w w s u y y c w u s w
( + + + +
( + + + + + =
+ + +
2 2
2 2 2 2
3 3 3 3
3 3
2
1
2
2
1 3 3 1 3 3 1 2
2
6 1 3 3 1 3 1 1
1 3 3
)
( )( ) ( )( ) ( ) 0
( )( ) ( )( ) ( )
( )( ) (
A E D
E A E A E A E D
E A E A E A E D
E A E A
z z c u X
Y x x s w w c u y y s w u c w z z s u Y e
F X x x c w w s u y y c w u s w z z c u X
Y x x s w w c u y y
( +
( + + + + + =
(
+ + + +
+ + +
3 3
2
2
1 3 3 1 3
)( ) ( ) 0
E A E D
s w u c w z z s u Y e
(
+ + =
(2.64)
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
81
Formula iterativ Newton-Raphson pentru determinarea celorlalte trei coordonate ale
sistemului (2.64) este:
( ) ( ) ( )
( )
( )
( )
1 1
, 0,1,2,3
p p p p
X X W X f X p
+
= =
(2.65)
Unde:
- p reprezint numrul de iteraii;
-
| |
T
E E
X X Y = reprezint vectorul soluiilor;
-
1 1 1
2 2 2
3 3 3
( )
E E
E E
E E
F F F
X Y
F F F
W X
X Y
F F F
X Y
( c c c
(
c c c
(
(
c c c
=
(
c c c
(
(
c c c
(
c c c
(
reprezint Jacobianul sistemului;
-
| |
1 2 3
T
F F F F = este vectorul funciilor;
Algoritmul modelului geometric direct n cazul general, al robotului paralel reconfigurabil
pentru M=6 GDL este prezentat n tabelul 2.3.
Date
1 2 3 4 5 6
, , , , , q q q q q q
Constante
, , , , , , ,
1,2,3
i i i i i
A A A E E E B B
x y z x y z X Y
i =
Necunoscute
, , , , ,
E E E
X Y Z u
Variabile Relaii de determinare
u
1
,w
1
1 3
2 2
5 4 6 5
1
A A
q q q q
s u
x y
u
| | | |
= = + | |
| |
\ . \ .
2
1 1
1 c w u u = =
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
82
u
3
, w
3
3
6 5
3
1 A
q q
u s
y u
= =
1
5 4
3
A
q q
w c
x
= =
( )
1 1
atan2 , u w u =
Z
E
1 3 1 3 1 5 E E E E
Z x u u y u u z w q = + + +
i i
D D
X , Y
i i
i i
D B i i
D B i i
X X d cq
Y Y d sq
= +
= +
E E
Y X , ,
( 1) ( ) 1 ( ) ( )
( ) ( )
p p p p
X X W X f X
+
= 0,1,2,3 p =
E
E
X
X Y
(
(
=
(
(
1
2
3
F
F F
F
(
(
=
(
(
1 1 1
2 2 2
3 3 3
( )
E E
E E
E E
F F F
X Y
F F F
W X
X Y
F F F
X Y
( c c c
(
c c c
(
(
c c c
=
(
c c c
(
(
c c c
(
c c c
(
Sistemul implicit de
funcii al robotului
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
2
2 2
3 3
[ ' '' ''' ]
[ ' '' ''' ] 0
' '' ''' 0
1,2,3
i i
i i i i
i i i
i E A E A E A E Di
E A E A E A E D i
i E A E A E A E i
F X x x c y y c z z c X
Y x x c y y c z z c Y e
F Z x x c y y c z z c q
i
o o o
| | |
c
+ +
+ + + +
+ + + =
+ + + =
Tabel 2.3 Algoritmul modelul geometric direct pentru Recrob M=6 GDL
2.4.2 Modelul geometric direct al robotului Recrob pentru M=5 GDL
Fig. 2.3 prezint configuraia robotului pentru M=5 grade de libertate. Datorit faptului c
unghiul 0 = , coordonatele generalizate ale end-effectorului rmase sunt , , , ,
E E E
X Y Z u :
( )
1 1
atan2 , u w u =
(2.66)
Unde u
1
i w
1
sunt exprimate de relaiile (2.57), respectiv (2.58).
Coordonata
E
Z poate fi exprimat din expresia F
5
astfel:
Dezvoltarea unui robot paralel reconfigurabil cu dou pn la ase grade de mobilitate. Reconfigurabilitate
83
1 1 5 E E E
Z x u z w q = + +
(2.67)
Sistemul implicit de funcii al robotului devine:
2
1 1 1
2
2
1 1
3 1 1 1 3
( ) ( )( ) ( )
( ) ( ) ( ) 0
( )( ) 0
1,2,3
i i i i
i i i i
i
i E A E A E A E D
E A E A E A E D i
i E A E E E i
F X x x c w y y s w z z c u X
Y x x s w y y c z z s u Y e
F Z x x u y u z w q
i
+ +
(
+ + + +
(
+ + + =
+ =
(2.68)
2.4.3 Modelul geometric direct al robotului Recrob pentru M=4 GDL
Coordonatele punctului E, pentru aceast configuraie (vezi fig. 2.4 ) sunt:
, , , , 0, 0
E E E
X Y Z u = = , unde:
4 E E
Z z q = +
(2.69)
Pentru gsirea celorlalte 3 coordonate , ,
E E
X Y este aplicat metoda iterativ Newton-
Raphson pentru urmtorul sistem de ecuaii neliniare:
2 2
2
( ) ( )( ) ( ) ( )
0
1,2,3
i i i i i i
i E A E A E D E A E A E D
i
F X x x c y y s X Y x x s y y c Y
e
i
( ( + + + + +
=
=
(2.70)
2.4.4 Modelul geometric direct al robotului Recrob pentru M=3 GDL (translaie spaial)
n acest caz, coordonatele efectorului final sunt: , , , 0, 0, 0
E E E
X Y Z u = = = unde:
4 E E
Z z q = +
(2.71)
Pentru a afla celelalte dou coordonate X
E
i Y
E
sistemul implicit de ecuaii (2.72) are o
soluie analitic n acest caz.
1 1 1 1
2 2 2 2
2 2
2
1 1
2 2
2
2 2
0
0
E A E D E A E D
E A E D E A E D
F X x x X Y y y Y e
F X x x X Y y y Y e
( (
+ + + =
( (
+ + + =
(2.72)
Dac ecuaia F2 este sczut din ecuaia F1, coordonata YE are urmtoarea expresie avnd
n vedere parametrii geometrici ai structurii din fig. 2.4:
1 2
A A
x x = ,
1 2
0
A A
y y = = i
1 2 3
e e e = = .
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
84
1 2 1 1 2 1 2
2 1
( )(2 2 ) 2
2( ) 2
D D E A D D E D D
E
D D
X X X x X X y Y Y
Y
Y Y
= +
(2.73)
nlocuind expresia analitic a lui Y
E
ntr-una din ecuaiile sistemului (2.72) va rezulta o ecuaie
de gradul 2 n X
E
. S-a gsit deci, pentru aceast configurare a robotului o expresie analitic a
tuturor coordonatelor generalizate ale efectorului final , ,
E E E
X Y Z al robotului.
2.4.5 Modelul geometric direct al robotului Recrob pentru M=3 GDL (micare plan)
Caz prezentat n fig. 2.5, robotul execut o micare plan paralel. Datorit neliniaritii celor
trei ecuaii implicite i de aceast dat, coordonatele generalizate ale end-effectorului
, ,
E E
X Y , vor fi calculate cu ajutorul metodei Newton-Raphon aplicat sistemului de ecuaii:
( ) ( ) ( )
( ) ( ) ( )
2
2 2
[ ' '' ''' ] [
' '' ''' ] 0
1,2,3
i E Ai E Ai E Ai E Di E
Ai E Ai E Ai E Di i
F X x x c y y c z z c X Y
x x c y y c z z c Y e
i
o o o
| | |
+ + + + +
+ + =
(2.74)
2.4.6 Modelul geometric direct al robotului Recrob pentru M=2 GDL
Pentru acest caz, a crui schem cinematic este prezentat n figura 2.6, s-a gsit o soluie
analitic similar configuraiei robotului Recrob cnd acesta realiza o micare de translaie
spaial.
1 1 1 1
2 2 2 2
2 2
2
1 1
2 2
2
2 2
0
0
E A E D E A E D
E A E D E A E D
F X x x X Y y y Y e
F X x x X Y y y Y e
( (
+ + + =
( (
+ + + =
(2.75)
Unde:
1 2 1 1 2 1 2
2 1
( )(2 2 ) 2
2( ) 2
D D E A D D E D D
E
D D
X X X x X X y Y Y
Y
Y Y
= +
(2.76)
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
85
Capitolul 3. Relaii pentru viteze i acceleraii pentru robotului paralel
reconfigurabil cu M=6 grade de libertate
3.1 Modelul cinematic. Consideraii generale
Pentru determinarea modelului cinematic al robotului se pornete de la sistemul de ecuaii
implicite care definesc relaiile intre coordonatele motoare
3
, , 1,2,3
i i
q q i
+
= i coordonatele
punctului E aparinnd end-efectorului ( , , , , , )
E E E
E X Y Z u . Sistemul de ecuaii, care rezult
pe baza relaiilor modelului geometric sunt:
( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( )
2
2 2
3 3
[ ' '' ''' ] [ '
'' ''' ] 0
' '' ''' 0
1,2,3
i i i
i i i
i i i
i E A E A E A E Di E A E
A E A E D i
i E A E A E A E i
F X x x c y y c z z c X Y x x c
y y c z z c Y e
F Z x x c y y c z z c q
i
o o o |
| |
c
+ +
+ + + + + +
+ =
+ + + =
(3.1)
Sistemul (3.1), exprimat funcie de unghiurile lui Euler pentru cazul ZY*z* ia forma:
1 1
1 1 1
1 1 1
2 2
1
2
1 1
2 2
1 1 1
2
[ ( )( ) ( )( )
( )( ) ] [ ( )( )
( )( ) ( )( ) ] 0
[ ( )( ) ( )(
E A E A E
A E B E A E
A E A E B
E A E A E
F X x x c c c s s y y c c s s c
z z c s X d cq Y x x s c c c s
y y s c s c c z z s s Y d sq e
F X x x c c c s s y y c
u u
u u
u u
u
+ + +
+ + + +
+ + =
+ +
2 2 2
2 2 2
3 3
3 3
2
2 2
2 2
2 2 2
3
2
3 3
)
( )( ) ] [ ( )( )
( )( ) ( )( ) ] 0
[ ( )( ) ( )( )
( )( ) ] [
A E B E A E
A E A E B
E A E A E
A E B
c s s c
z z c s X d cq Y x x s c c c s
y y s c s c c z z s s Y d sq e
F X x x c c c s s y y c c s s c
z z c s X d cq
u
u u
u u
u u
u
+
+ + + +
+ + =
+ + +
+
( )( )
( )
( ) ( )
3
3 3 3
1
3
2 2
3 3 3
4 4
5 5
6 6
( )( )
( )( ) ( )( ) ] 0
0
0
0
E A E
A E A E B
E A E E E
E E E E
E E A E E
Y x x s c c c s
y y s c s c c z z s s Y d sq e
F Z x x s c y s s z c q
F Z x s c y s s z c q
F Z x s c y y s s z c q
u
u u
u u u
u u u
u u u
+ + +
+ + =
+ =
+ =
(3.2)
Facem notaiile:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
86
T
E E E
X X Y Z u
(
=
| |
1 2 3 4 5 6
T
q q q q q q q =
(3.3)
Folosind notaiile (3.3), ntre derivatele coordonatelor punctului caracteristic E i cele ale
cuplelor motoare se poate scrie urmtoarea ecuaie matriceal folosit n modelul cinematic
pentru viteze:
0 A X B q + =
(3.4)
unde A i B, cele dou matrice Jacobi i au forma:
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3
4 4 4 4 4 4
5 5 5 5 5 5
6 6 6 6 6 6
E E E
E E E
E E E
E E E
E E E
E E E
F F F F F F
X Y Z
F F F F F F
X Y Z
F F F F F F
X Y Z
A
F F F F F F
X Y Z
F F F F F F
X Y Z
F F F F F F
X Y Z
u
u
u
u
u
u
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
=
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
1 1 1 1 1 1
1 2 3 4 5 6
2 2 2 2 2 2
1 2 3 4 5 6
3 3 3 3 3 3
1 2 3 4 5 6
4 4 4 4 4 4
1 2 3 4 5 6
5 5 5
1 2
,
F F F F F F
q q q q q q
F F F F F F
q q q q q q
F F F F F F
q q q q q q
B
F F F F F F
q q q q q q
F F F
q q
c c c c c c (
(
c c c c c c
(
( c c c c c c
(
c c c c c c
(
(
c c c c c c
(
c c c c c c
(
=
(
c c c c c c
(
c c c c c c
(
(
c c c
(
c c
(
(
(
(
5 5 5
3 4 5 6
6 6 6 6 6 6
1 2 3 4 5 6
F F F
q q q q
F F F F F F
q q q q q q
(
(
(
(
(
(
(
(
(
(
(
(
(
c c c
(
c c c c
(
(
c c c c c c
(
( c c c c c c
(3.5)
Prin derivarea n raport cu timpul a relaiei (3.4) se obine relaia folosit pentru calculul
cinematic al acceleraiilor:
0 A X A X B q B q + + + =
(3.6)
unde derivatele matricelor Jacobi au forma:
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
87
1 1 1 1 1 1
2 2 2 2 2 2
3 3
E E E
E E E
E
F F F F F F d d d d d d
dt X dt Y dt Z dt dt dt
F F F F F F d d d d d d
dt X dt Y dt Z dt dt dt
F F d d
dt X dt Y
A
u
u
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | c c
|
c c
\ .
=
3 3 3 3
4 4 4 4 4 4
5 5 5
E E
E E E
E E E
F F F F d d d d
dt Z dt dt dt
F F F F F F d d d d d d
dt X dt Y dt Z dt dt dt
F F F d d d d
dt X dt Y dt Z dt
u
u
| | | | c c c c | | | | | |
| | | | |
c c c c
\ . \ . \ . \ . \ .
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | | | c c c c
| | |
c c c
\ . \ . \ .
5 5 5
6 6 6 6 6 6
E E E
F F F d d
dt dt
F F F F F F d d d d d d
dt X dt Y dt Z dt dt dt
u
u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
c c | | | | | |
(
| | |
(
c c c
\ . \ . \ .
(
(
| | | | | | c c c c c c | | | | | |
( | | | | | |
c c c c c c
\ . ( \ . \ . \ . \ . \ .
1 1 1 1 1 1
1 2 3 4 5 6
2 2 2 2 2 2
1 2 3 4 5 6
3
1
F F F F F F d d d d d d
dt q dt q dt q dt q dt q dt q
F F F F F F d d d d d d
dt q dt q dt q dt q dt q dt q
F d d
dt q d
B
| | | | | | | | | | | | c c c c c c
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | | | | | | | | | c c c c c c
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | c
|
c
\ .
=
3 3 3 3 3
2 3 4 5 6
4 4 4 4 4 4
1 2 3 4 5 6
5 5 5
1 2
F F F F F d d d d
t q dt q dt q dt q dt q
F F F F F F d d d d d d
dt q dt q dt q dt q dt q dt q
F F F d d d
dt q dt q dt
| | | | | | | | | | c c c c c
| | | | |
c c c c c
\ . \ . \ . \ . \ .
| | | | | | | | | | | | c c c c c c
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | c c c
| |
c c c
\ . \ .
5 5 5
3 4 5 6
6 6 6 6 6 6
1 2 3 4 5 6
F F F d d d
q dt q dt q dt q
F F F F F F d d d d d d
dt q dt q dt q dt q dt q dt q
(
(
(
(
(
(
(
(
(
(
(
(
(
(
| | | | | | | | c c c
(
| | | |
(
c c c
\ . \ . \ . \ .
(
(
| | | | | | | | | | | | c c c c c c
(
| | | | | |
c c c c c c
( \ . \ . \ . \ . \ . \ .
(3.7)
3.2 Calculul matricelor Jacobi
Pentru calculul celor dou matrice Jacobi, dar i a derivatelor de timp ale acestora, se
introduc n sistemul (3.2) urmtoarele relaii ntre parametrii geometrici:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
88
1 1
1
2 2 2
3 3 3
2 3 1 2
1 2 3 1 2 3
;
, 0, 0
0, 0, 0
0, , 0
0; 0
3
A A
A
A A A
A A A
B B B B
E E
d d d d e e e e
x p y z
x y z
x y p z
X X Y Y
p
x y
= = = = = =
= = =
= = =
= = =
= = = =
= =
(3.8)
Unde d
1
,d
2
i d
3
reprezint lungimea braelor verticale care leag platforma mobil de braele
e
1
, e
2
, respectiv e
3
, care la rndul lor leag platforma mobil de restul robotului. Restul
parametrilor geometrici din (3.8) sunt coordonate exprimate fie n funcie de sistemul mobil
oxyz, fie n funcie de sistemul fix OXYZ.
Dup introducerea parametrilor (3.8), sistemul de funcii (3.2) ia forma:
1
2
1 1
2 2
1
2
2 2
2 1
[ ( ) ( ) ]
3 3
2 1
[ ( ) ( ) ] 0
3 3
1 1
[ ( ) ( ) ]
3 3
1 1
[ ( ) (
3 3
E E B
E E
E E
E
F X p c c c s s p c c s s c z c s X dcq
Y p s c c c s p s c s c c z s s dsq e
F X p c c c s s p c c s s c z c s dcq
Y p s c c c s p s
u u u
u u u
u u u
u
+ +
+ + + =
+
+
2 2
2
2
3 3
2 2
3
4 4
5
) ] 0
1 2
[ ( ) ( ) ]
3 3
1 2
[ ( ) ( ) ] 0
3 3
2 1
0
3 3
1 1
3 3
E
E E
E E
E E
E E
c s c c z s s dsq e
F X p c c c s s p c c s s c z c s dcq
Y p s c c c s p s c s c c z s s p dsq e
F Z ps c ps s z c q
F Z ps c ps s z
u u
u u u
u u u
u u u
u u
+ + =
+ +
+ + + =
=
+
5
6 6
0
1 2
0
3 3
E E
c q
F Z ps c ps s z c q
u
u u u
+ + =
(3.9)
Se vor determina n continuare derivatele pariale ale matricelor Jacobi A i B care vor fi
folosite pentru rezolvarea modelului cinematic, dar i pentru determinarea singularitilor i a
spaiului de lucru a robotului Recrob.
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
89
Matricea B
Se observ c funciile sistemului (3.9) au fiecare cte o singur coordonat motoare n
componena lor, ceea ce nseamn c matricea B va fi o matrice diagonal.
( ) ( )
( ) ( )
1
1
1
1 1
1 1
2 1
2 (
3 3
2 1
) 2(
3 3
)
E E B
E E
F
X p c c c s s p c c s s c z c s X
q
dcq dsq Y p s c c c s p s c s c c z s s
dsq dcq
u u u
u u u
c
= +
c
+ + +
(3.10)
( ) ( )
( ) ( ) )
2
2 2
2
2 2
1 1
2
3 3
1 1
2
3 3
E E
E E
F
X p c c c s s p c c s s c z c s dcq dsq
q
Y p s c c c s p s c s c c z s s dsq dcq
u u u
u u u
c | |
=
|
c
\ .
|
+ +
\
(3.11)
( ) ( )
( ) ( ) )
3
3 3
3
3 3
1 2
2
3 3
1 2
2
3 3
E E
E E
F
X p c c c s s p c c s s c z c s dcq dsq
q
Y p s c c c s p s c s c c z s s p dsq dcq
u u u
u u u
c | |
= +
|
c
\ .
|
+ + +
\
(3.12)
5 6 4
4 5 6
1
F F F
q q q
c c c
= = =
c c c
(3.13)
Componentele matricei B
sunt:
1
1 1 1 1 1
1
1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1
1 1
2
( 2 2
3
3 2
2 2
3
E
E
F d
d p sq s s p cq c c p cq c s pq cq s s
dt q
pq cq c c s pq cq c c s pq cq s c z q cq c s pq sq c s
pq sq s c c p sq s s s pq sq s c s pq sq c c
z q sq
u u u
u u u
| | c
= +
|
c
\ .
+ + + +
+
1
1 1 1
1 1 1 1
1 1 1 1 1 1 1
1 1 1
2 2 1
3 3 2
3 2 3 3
3 3 3
E E
E E E
B E E
s s p cq c c c p cq s s p sq s c s p sq c c
z s s p cq c c s p cq s c z cq c s p sq c s c
p sq c s s z sq c c p cq s s c X q cq Y q sq
X q cq Y cq X sq
u u u
u u u u u
u u u u u u
+ + +
+
+ + +
+
1 1 1 1 1
1 1 1 1 1
2
3 2 2 2 )
E
p cq s s s p cq s c c pq cq c c c
z cq s c p sq c c s p sq s c p sq c c c p cq s c s
u u u u
u u u u u
+ + +
+ +
(3.14)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
90
2
2 2 2 2 2 2 2
2
2 2 2 2 2 2 2 2
2 2 2
2
(3 3
3
3 3
2 2 3 3
E E
E E
E E
F d
d X sq Y q sq p sq c c pq cq s c p cq s s
dt q
pq cq s s pq sq c s q cq X z sq s s p cq c c c
p sq s c c p sq q c s p cq c c s z sq c c z cq c s
p
u u
u u u u u
u
| | c
= + + + +
|
c
\ .
+ + + +
+ +
2 2 2 2 2 2
2 2 2 2
2 2 2 2 2 2
2
2 3
2 3 3
3
E
E E
E
sq c s c p cq s s s p cq s c c p cq c s pq sq s c s
p sq c s s p sq c c s p sq s c p cq s s c z cq s c
p sq c c c p sq s s p cq s c s Y cq p cq c c z q sq s s
z q
u u u u u
u u u u u u u
u u u
+ +
+ + + +
+
2 2 2 2 2 2 2 2
2 2
2 )
cq c s pq cq c c c pq sq s c c p cq s c pq cq c c s
p sq c s pq sq c c
u u u
+ +
(3.15)
3
3 3 3 3 3 3 3 3 3
3
3 3 3 3 3
3 3 3 3
2
( 3 3 3 3 3 2
3
2 2 2 3
2 3 3
E E E E
E
E
F d
d Y q sq X q cq pq sq Y cq X sq p cq c c s
dt q
p cq s s p cq s s s pcq s c p sq c s s z cq s c
p sq c s c pq cq s c p cq s s c z sq c c p cq
u
u u u u u u
u u u u u u
| | c
= + + +
|
c
\ .
+ + + +
3
3 3 3 3 3 3
3 3 3 3 3 3
3 3 3 3 3 3 3
3 3 3
3 3 2
2 2 2 2
E E E
E
s c s
z q cq c s z cq c s p cq c c p sq s c c z sq s s
z q sq s s pq sq c s p sq c c c p sq s c p sq c c s
p cq c s p cq s c c p sq s s pq cq c c s pq cq s s
u
u u u u
u u u
u u
+ + + +
+ + +
+ + +
3 3 3 3 3 3 3 3
2 2 ) pq cq c c c pq sq c c pq sq s c s pq sq s c c u u u
+
(3.16)
5 6 4
4 5 6
0
F F F d d d
dt q dt q dt q
| | | | | | c c c
= = =
| | |
c c c
\ . \ . \ .
(3.17)
Matricea A
Derivatele pariale ale sistemului (3.9), n raport cu coordonatele generalizate ale efectorului
final , , , , ,
E E E
X Y Z u sunt:
1
1
1
4 4 2 2
2 2 2 2
3 3 3 3
E E B
E
F
X pc c c ps s pc c s ps c z c s X dcq
X
u u u
c
= + + +
c
(3.18)
1
1
4 4 2 2
2 2 2
3 3 3 3
E
E
F
YE ps c c pc s ps c s pc c z s s dsq
Y
u u u
c
= + + +
c
(3.19)
1
0
E
F
Z
c
=
c
(3.20)
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
91
1 1
1
1 1 1
1 1
1 1 1 1
4 2 2 4
2
3 3 3 3
4 2 2 4 4
3 3 3 3 3
2 4 2 2
2
3 3 3 3
4
3
E E E
B B E
E E
F
dz cq s s pX s c c pX s c s dcq c c dpcq s c c
dpcq c s dpcq s c s pX s c s pX s c s pY c c c
pY c c s dpsq s s dpsq c c s dpsq s s dz sq c s
dpsq
u u u u
u u u u
u u u
c
= + +
c
+ + + + +
+ +
1
1 1
1
2 4 4
2 2
3 3 3
4 2 2
2
3 3 3
B E E E E E E
B B E E E
c c c X z s s X z s s pX c c pX c s pY s s
pX c s pX c c Y z c s pY s c
u u u
u
+ + +
+
(3.21)
1
2 2 2 2 1
2 2
1 1
2
(3 2 )(2 2
9
3 3 3 3 3 3 3 )
E
E E E E B
F
z c ps s ps c pc c ps c c pc c s pc s s
z s s z c s X c Y s dcq c X c dsq s
u u u u u u u
u
u u
c
= + + + + +
c
+ +
(3.22)
1
1
1
1
2 1
2( ( ) ( ) )
3 3
2 1 2
( ( ) ( )) 2( ( )
3 3 3
1 2 1
( ) )( ( ) (
3 3 3
))
E E B
E
E
F
X p c c c s s p c c s s c z c s X dcq
p c c s s c p c c c s s Y p s c c c s
p s c s c c z s s dsq p s c s c c p s c c
c s
u u u
u u u
u u u u
c
= +
c
+ + + +
+ +
(3.23)
2
2
2 2 2 2
2 2 2
3 3 3 3
E E
E
F
X pc c c ps s pc c s ps c z c s dcq
X
u u u
c
= + + +
c
(3.24)
2
2
2 2 2 2
2 2 2
3 3 3 3
E E
E
F
Y ps c c pc s ps c s pc c z s s dcq
Y
u u u
c
= +
c
(3.25)
2
0
E
F
Z
c
=
c
(3.26)
2
2 2
2 2 2
2 2
2 2 2 2
2
3 3 3 3
2 2 2 2
2
3 3 3 3
2 2 2 2 2
2
3 3 3 3 3
2
3
E E E E
E E E
E E E E E
F
X z s s X ps c c X ps c s dpcq s c c dpdq c s
dpcq s c s dpcq c c dcq z s s pY c c c pY c c s
pY s s pX c c pX c s Y z c s dpsq c c c dpsq s s
dpsq
u u u u
u u u u
u u
c
= + +
c
+ +
+ + +
2 2 2
2
2
3
E
c c s dpsq s c dz sq c s u u +
(3.27)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
92
2 2 2 2 2
2 2
2 2
2
(3 )(
9
3 3 3 3 3 3 )
E E E E
F
zEc ps c ps s pc c s pc s c pc s s pc c c
z c s z s s Y s dcq c X c dsq s
u u u u u u u
u
u u
c
= + + + +
c
+ + +
(3.28)
2 2 2 2
2
2
2 2 2
2 2 2 2 2 2 2 2 2
2 2 2
2
(3 3 3 3
9
3 3 3 3 3
3 3 3
3
E E E
E E
E E E
E
F
p dcq c c s z s s c s z c s c s z c s c c
dcq c c c dsq s c c z s s c c dsq s c s X s s
X c c c X c c s Y s c c pc c s ps c s ps c c
pc c c Y s c
u u u u u u u
u u u u u
u u u u u u
u u
c
= + + + +
c
+ + + +
+ +
2 2 2
2 2
3 3 3 3
3 3 )
E
E E
s dcq s c dsq c c dsq c s X s c
Y c c ps pc Y c s
+ + +
+
(3.29)
3
3
2 4
2 ( ) ( ) 2 2
3 3
E E
E
F
X p c c c s s p c c s s c z c s dcq
X
u u u
c
= +
c
(3.30)
3
3
2 4
2 ( ) ( ) 2 2 2
3 3
E E
E
F
Y p s c c c s p s c s c c z s s p dsq
Y
u u u
c
= + +
c
(3.31)
3
0
E
F
Z
c
=
c
(3.32)
3
3
3
1 2
2( ( ) ( ) )
3 3
1 2 1
( ( ) ( ) ) 2( ( )
3 3 3
2 1
( ) )( ( )
3 3
2
( )
3
E E E
E E
E
E
F
X p c c c s s p c c s z c s z c s dcq
p s c c c s p s c s c c z s s Y p s c c c s
p s c s c c z s s p dsq p c c c s s
p c c s s c z c
u u u u
u u u u
u u u
u
c
= +
c
+ + + + +
+ +
) su
(3.33)
3
3 3
2
( 2 3 )(2 3 3 3
9
3 3 3 )
E E E
E
F
ps c ps s z c pc s pc c z s X c ps
dcq c dsq s Y s
u u u u u u
u
c
= + + + + +
c
+
(3.34)
3
3
3
1 2
2( ( ) ( ) )
3 3
1 2 1
( ( ) ( )) 2( ( )
3 3 3
2 1
( ) )( ( )
3 3
2
( ))
3
E E
E
E
F
X p c c c s s p c c s s c z c s dcq
p c c s s c p c c c s s Y p s c c c s
p s c s c c z s s p dsq p s c s c c
p s c c c s
u u u
u u u
u u u
u
c
= +
c
+ + + + +
+ + +
(3.35)
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
93
4 4 4
0
E E
F F F
X Y
c c c
= = =
c c c
(3.36)
4
1
E
F
Z
c
=
c
(3.37)
4
2 1
3 3
E
F
pc c pc s z s u u u
u
c
= +
c
(3.38)
4
2 1
3 3
F
ps s ps c u u
c
=
c
(3.39)
5 5 5
0
E E
F F F
X Y
c c c
= = =
c c c
(3.40)
5
1
E
F
Z
c
=
c
(3.41)
5
1 1
3 3
E
F
pc c pc s z s u u u
u
c
= +
c
(3.42)
5
1 1
3 3
F
ps s ps c u u
c
=
c
(3.43)
6 6 6
0
E E
F F F
X Y
c c c
= = =
c c c
(3.44)
6
1
E
F
Z
c
=
c
(3.45)
5
1 2
3 3
E
F
pc c pc s z s u u u
u
c
= + +
c
(3.46)
5
1 2
3 3
F
ps s ps c u u
c
= +
c
(3.47)
Componentele matricei A
sunt:
1
1 1
4 2
2 ( ( ) ( ) 2 )
3 3
4 2 4 2
( 2 ) ( ( ) (
3 3 3 3
)) 2
E E
E
E
F d
X p s c c c s p s c s c c z s s
dt X
pc s c pc s s z c c p c c s s c p c c c
s s dsq q
u u u
u u u u u u
| | c
= + + +
|
c
\ .
+ +
+
(3.48)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
94
1
1 1
4 2
2 ( ( ) ( ) 2 )
3 3
4 2 4 2
( 2 ) ( ( ) (
3 3 3 3
)) 2
E E
E
E
F d
Y p c c c s s p c c s s c z c s
dt Y
ps s c ps s s z s c p s c s c c p s c c
c s dcq q
u u u
u u u u u u
| | c
= + +
|
c
\ .
+ +
(3.49)
1
0
E
F d
dt Z
| | c
=
|
c
\ .
(3.50)
1 1
1
1
2 4 4 2 2
3 3 3 3 3
4 2 2 4 4
2
3 3 3 3 3
2 4 2 2
3 3 3 3
B B E E E E
E E E E E E
E E E E
F d
pX s c c pX s s pX c s pX c c z X s s
dt
pY s s pY s c z Y c s dp cq s c pX s s c pY c c c
pY c c s pX s c c pX s c s pX c c
u u
u u u u
u u u
| | c
= + +
|
c
\ .
+ + + + +
1
1 1 1
1 1 1 1
1 1 1
2
3
4 2 4 2
2
3 3 3 3
4 4 2
2 2
3 3 3
4 4 2
3 3 3
B
B E B B E E
E E E
s pX s c
pX c c c z X c s pX c c s pY c s pY c c
z Y s s dp cq c c c dp cq s s dp cq c c s dz cq c s
dp sq s c c dp sq c s dp sq s c s
u
u u u
u u u u
u u
+ +
+ + +
+ + +
+ +
1
1
1 1
4 2
3 3
4 2 4
2 2
3 3 3
2 2
2 2 2
3 3
4 2 4
3 3 3
E E
E E E E E
E E E B E E E E
E E B
pX s s pX s c
X z c s pX c c c dp sq c c dz sq s s pY s c c
pY s c s X z s c X z s c Y z c c X p s s s
pY c s c pY c s s pX s s c
u u u u
u u u u u u u u u
u u u u u u
+ +
+ +
1
1
1
1 1 1 1 1
1 1 1
2 4
3 3
2 4 2
2 2
3 3 3
2 4 4 4 2
3 3 3 3 3
4 2
3 3
B
E E
E B
E E
pX s s s dp sq s s c
dp cq s s s dz cq s c dp sq c s c dp sq c s s dz sq c c
pX s c c pX s c s dp cq s c s dp cq c c dp cq c s
pX c c pX
u u u u
u u u u u u u u u u
u u u
+ + +
+ +
1 1
1 1
1 1 1 1 1 1
4 2 4 2
3 3 3 3
4 2 4 2 4
3 3 3 3 3
4 2 2 4 4
3 3 3 3 3
B B E E
E E E
c s pX c c pX c s pY s c pY s s
pX s c s dp cq s c c pY c c s pY c c c dp sq c c s
dp sq s c dp sq c c c dp sq s s dpq sq s c c dpq sq
u u u u u
u u
+ + +
+ + + +
+
1
1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1
2 2 4 4
2
3 3 3 3
2 4 2 2
2
3 3 3 3
E
E
c s
dpq sq s c s dpq sq c c dpq z sq s s dpq cq c c c dpq cq s s
dpq cq c c c dpq cq s s dpq cq c c s dpq cq s c dz q cq c s
u u u
u u u
+ + +
+ +
(3.51)
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
95
1 1 1
1
1
2 2
1 1
2 4 2
2
3 3 3
2 4 2
2 2
3 3 3
4 2 1
2 2 2
3 3 3
E E E E E
B E E E B B
E E E E
F d
pX c s s pY s s c pY s s s X z s c
dt
dp cq s s s X z s c Y z c c pX c s s pX c s c
dp cq c s s dp cq c s c z p X z c c Y z
u u u u
u
u u u u u
u u u u u
c | |
= +
|
c
\ .
+
+ +
2 2
2 2
1 1
2 2 2 2 2
4 2 4 4
4
3 3 3 3
2 4 2 2 2
3 3 3 3 3
8 4 4 8 2
9 3 9 9 3
4
E
E E E E E
E E
E
s c
z c pX c s s pX c s c pY s c c pY s s s
pY s s c dp sq s s s dp sq s s c pz c p c
p c s p c s s c p c p c s Y p s c s
u
u u u u u u u
u u u u u
u u u u u u u u u
+
+ +
+ + + +
+ + +
1 1 1 1 1 1
2 2 2 2 2 2
2 2 2
1 1 1 1
2 4 2
3 3 3 3
16 8 4 4 8
9 3 3 3 3
16 4 16 4
2
9 3 3 3
E E E
E E E
dp sq s c c dp sq s c s dpq sq c s c dpq sq c s s
p c c s pz s s c p c c pz s pz c s
p c c s pz c c pz s c c dz q sq c c dpq cq s
u u u u u u
u u u u u u u u
u u u u u u u
+
+ +
+ +
1 1 1
1 1 1 1 1
1
2 4 2
2 2
3 3 3
4 2
2 2 2
3 3
4 2 4
2
3 3 3
E E E E
E E B E E E B B
E E E E
s c
dpq cq s s s dz q cq s c dz sq s s pX c c c pX c c s
X z c s X z c s Y z s s X p c c c X p c c s
dz cq c s X p s s c X p s s s pY c s c
u
u u u u u u u u
u u u u u u u u u u
u u u u u
+
+ +
+ + +
+ +
1
1
1 1 1
1 1 1
1
2
3
4 2 4
2
3 3 3
2 4 4 2
3 3 3 3
4
2
3
E
E B
B
E E
pY c s s
dp sq c s c dp sq c s s dz sq c c X p s s c
X p s s s dp cq s s c dp cq c c c dp cq c c s
pX c s c dz cq s c
u
u u u u
u u u u u u
u u
+
+ +
+ +
(3.52)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
96
1
1
1
1
1
1
2
(3 6 6 3 6
9
3 6 3 6 6 3
6 3 3 6 3
B E E E
E E E E E
B E E E
F d
p d sq s s c X c c X c c s X c c c Y s c s
dt
Y s c c X c c X c s dsq s s s X c s s X c s c
X c s s Y c c c d sq s s X s c s X
u u u u u
u u u u u u u
u u u u
| | c
= + + +
|
c
\ .
+
+ + +
1 1
1
1 1 1 1
1
2
3 6 6 6 3
6 3 6 3 3 6
3 6 3 6 3 3 6
E
B E E E B
B E E E E E
s c c
d cq c s Y c c s d sq c c s d sq s s d sq c c c
d cq s c s X c s Y s c Y s s X s c X s s
X s c Y c s Y c c X s s z c p c z
u
u u u
u
u u u
+
+ +
+ +
+ + + +
2 2 2 2
1 1
2
2
1 1 1 1
1 1
6 6 6 6 6 8
12 4 8 2 3 6
6 8 6 6 3
3
E E
E E E
E
s
Y s s s dq sq c c s p c c p c z c c p c s
z c s p c s p c s c z s c s z s c c
p c s s c p c c s Y c c dq sq s c dq sq c c c
dq sq s s
u u u u u u
u u u u u u u u u u
u u u u u u u
+
+ + +
+ + + +
+ +
1 1
1 1 1 1 1 1 1 1
1
1 1 1
1
6 6 3 3
6 3 6 3 6
6 3 3 6 3
6 6
E E B B
E E
dq cq s c s dq cq c c dq cq s c c dq cq c s
X c c c X c c s X c c c X c c s d cq c c c
d cq s s d cq c c s d cq s c Y s c c Y s c s
d sq s c c d
u u
u u u u u
u u u
u
+
+ + +
+ + +
+
1
1 1 1
1 1
3 3 3
6 3 3 3 3 3
6 )
B
E E E
E
sq c s d sq s c s d sq c c X c s c
d cq c s s d cq c s c Y s s c Y c s p X s s
X s c
u u u
u u u u u u
+ +
+ +
(3.53)
2
2 2
2 2 2 2
2 2
3 3 3 3
2 2 2 2 2
2
3 3 3 3 3
2
2
3
E E
E
E
F d
X p s c c p c s p s c s p c c z s s
dt X
p c s c p c s s z c c p c c s p s c p c c c
p s s dq sq
u u u
u u u u u u u u
| | c
= + + + + +
|
c
\ .
+ + +
+
(3.54)
2
2 2
2 2 2 2
2 2
3 3 3 3
2 2 2 2 2
2
3 3 3 3 3
2
2
3
E E
E
E
F d
Y p c c c p s s p c c s p s c z c s
dt Y
p s s c p s s s z s c p s c s p c c p s c c
p c s dq cq
u u u
u u u u u u u u
| | c
= + + + +
|
c
\ .
+ + +
+
(3.55)
2
0
E
F d
dt Z
| | c
=
|
c
\ .
(3.56)
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
97
2
2 2 2 2 2
2
2
( 6 6
3
6
E E E E E E E E
E E
E E E E E
F d
pX c s pX c c z X s s pY s s pY s c z Y c s
dt
pX s s c pX s s s dpq cq s s dpq cq c c s dp sq c c
dz sq s s pY s c s pX c c c pX c c s pX s c
u u
u u u u u
u u u u
| | c
= + + + +
|
c
\ .
+
+ +
2
2 2 2
2 2 2
2
6 6
E E E E E E E
E E
E E
X z c s pX c s pY c s pY c c Y z s s dp cq c c c
dp cq s s dp cq c c s dp cq s c pX s c c pX s c s
pY c c c pY c c s dp sq c c s dp sq s c dp sq c c c
dp sq s s
u u u
u u u
u u u u
+ + + + +
+ + +
+ +
2
2 2 2
2 2 2
6 6
E E E
E E E E
E E E
E
pX s c s pX s c c pX c s dp cq s s c
dp cq s s s dz cq s c pY c s c dz cq c s pY s c c
pY s c pY s s dp cq c c dp cq s c c dp cq c s pY c c s
pY c c c dp
u u u u
u u u u u u u u
u u
u
+
+ + +
+ + + +
+
2 2 2
2
2 2 2 2 2 2 2
2 2 2
6 6
6
E
E E E E E E
E
cq s c s pX c c dp sq s c c dp sq c s
dp sq s c s pX s s pY c s s X z s c X z c c
dp sq c s c dp sq c s s dz sq c c dpq sq s c c dpq sq c s
dpq sq s c s dpq sq
u u
u u u u u u u
u u u u u u u
u
+ +
+
+ + + +
+
2 2 2 2 2 2 2
2 2
)
E
E
c c dz q sq s s dpq cq c c c dpq cq s c
dz q sq c s
u u
u
+ + +
(3.57)
2 2 2 2
2 2
2 2
2 2 2
2 1 2
( 3 3
3 3 3
2 2
6
3 3
3 3 3
E E E E E
E E E
E E E
F d
p X s s c p X s s s z Y s c p z p c s
dt
p c s p c s pz s pz c dp sq s c s dz sq s s
dp sq c s c dp sq c s s dz sq c c X z s c
u u u u u u u
u
u u u u u u u
u u u u
c | |
= + +
|
c
\ .
+ + +
+ + +
2 2
2 2 2
2 2 2 2
3 3
3
3 2 2 3
E E
E E E E E
E E E
E E
Y z c c
X z c c X z c s pX c s c dp cq c s s dp cq c s c
dp cq s s c dp cq s s s dz cq s c pY c s c pY c s s
dp cq c c s dz cq c s dpq sq c s c dpq sq c s c dz
u
u u u u u u
u u u u u
u u u u u
+ + + +
+ +
+
2 2
2 2 2 2
2 2
2 2
2
2 2 3
3
4
4 4 2
3
E E E
E E E E
E E E
q sq c c
dpq cq s s c dpq cq s s s dz q cq s c pY s s s pY s s c
dp sq s s s dp sq s s c Y z s s pX c c c pX c c s
dp cq c c c pz s c c pz s s c pz c c p
u
u u u u u
u u u u u u u u
u u u u u u u u u
+ + +
+ + +
+ +
2
2 2 2
2 2 2 2
2
4
2
3
2
6 )
3
E E E E E
E E E E
c c s
pz c s p c c s pX c s s pX c s c pX c s s pY s s c
pY s s s z c pY s c c pY s c s dp sq s c c p c
u u
u u u u u u
u u u u u u u u u u u
+ + +
+ +
(3.58)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
98
2
2
2 2
2 2
2
(3 3 3 3 3
9
3 3 3 6 4 6
4 3 3 4 2 3
E E E E
E E E E E
E E E
F d
p z s z c d sq s s X s c s X s c s
dt
X c s s X s s X s c z c s p c s z c c
p c s c z s c c z s c s p c c s p c s X c c c
u u u u
u u u u u u
u u u u u u u u u u u u
| | c
= + +
|
c
\ .
+
+ + +
2 2 2
2 2 2
2 2 2 2
2
3 3 3 3 3
3 3 3 3 3
3 3 3 3 3
3
E E
E E E
E
Y c c c d sq c c s d sq s c d sq c c c X c s c
d cq c s s d cq c s c Y cq s s c Y c c Y c s
d sq s s s d sq s s c Y s s s d cq s c s d cq c c
d cq s
u u u u u
u u u u u u
u u u u u u u
+
+
+ + +
+ + +
2 2
2 2 2 2
2 2 2 2 2
2 2
3 3 3 3
3 3 3 3 3
3 3 3 3 3
3 3
E E
E
E
c c d cq c s Y c c s X c c s d sq c c
d cq c c c d cq s s d cq c c s d cq s c Y s c c
Y s c s d sq s c c d sq s s d sq s c s dq sq c c s
dq sq s c d
u u u
u u u
u u u u
+ +
+ + + +
+ + +
+
2 2 2 2 2 2 2 2
2 2 2 2
3 3 3
3 3 3 3 3 3
3 3 3 3 3 3
3 3
E E E E
E E E E E E
E E
q sq c c c dq sq s s dq cq s c s dq cq c c
dq cq c s dq cq s c c X s s X c c X c s Y s c
Y s s X c c s X c c c Y s c s Y s c c X s c
Y c s Y
u u
u
u u u u
+
+ +
+ + + + +
+
) c c
(3.59)
3
3 3
2 2 4 4
2 2
3 3 3 3
2 4 2 2 4
2
3 3 3 3 3
2
2
3
E E
E
E
F d
X p s c c p c s p s c s p c c z s s
dt X
p c s c p c s s z c c p c c s p s c p c c c
p s s dq sq
u u u
u u u u u u u u
| | c
= + + + + +
|
c
\ .
+ + +
+
(3.60)
3
3 3
2 2 4 4
2 2
3 3 3 3
2 4 2 2 4
2
3 3 3 3 3
4
2
3
E E
E
E
F d
Y p c c c p s s p c c s p s c z c s
dt Y
p s s c p s s s z s c p s c s p c c p s c c
p c s dq cq
u u u
u u u u u u u u
| | c
= + +
|
c
\ .
+ +
+
(3.61)
3
0
E
F d
dt Z
| | c
=
|
c
\ .
(3.62)
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
99
3
3 3 3
2 2
3
2
(2 2 3 2
3
2 2 2
2 3 2 3
E E
E E E
E E E E E E E
F d
pY c s s dp sq c s s dz sq c c dp cq s c c
dt
dp cq c s pY s c pY s s p c c s p c c c pY c c s
pX s c c pX s c s z Y c s pX c s pX c c z
u u u u u u u
u u u
u u u
c | |
= +
|
c
\ .
+ + + + +
+ + +
2 2 2 2
3 3
3 3 3
2 2 2
3 2
2 2 3 2
3
E
E E
E E E E
E E E
E E
X s s
p c c p c s p s c p s s pX s s pX s c
X z c s pX c c c pX c c s dp cq c c c dp cq s s
dp cq c c s dp cq s c dz cq c s pY c s pY c c
Y z
u
u u u u
u
+
+ +
+ + +
+ +
2 2
3 3 3 3
3
3 3
2 3
2 2 2
3 2 2
E E
E
E E E E E
s s p s c c p s c s pz s s pY s c c
pY s c s dp sq c s dp sq s c c dp sq s c s dp sq c c
dz sq s s pX c c pX c s pX s c s pX s c c
dp cq s c s dp cq c
u u u u u
u u u
u u u
u
+ +
+
+ + + +
2 2
3 3 3
3 3 3
3 2
3 2 2
2 2 2
2
E E E E
E E E E E
E E
c X z s c pX s s c pX s s s
Y z c c p c s c p c s s pY s s pY s c pY c c c
pY c c s pY c c c dp sq c c s dp sq s c dp sq c c c
dp sq s s dpq sq s c c
u u u u u u
u u u u u u u
u u u u
u
+
+
+
+ +
3 3 3 3 3 3
3 3 3 3 3 3 3 3 3 3
3 3 3 3 3
2 2
3 2 2
3 3 2 3
E E
E E E
E
dpq sq c s dpq sq s c s dpq sq c c
dz q sq s s dz q cq c c c dpq cq s s dpq cq c c s dpq cq s c
dz q cq c s pz c c dp cq s s c dp cq s s s dz cq s c
pY c s c dp
u
u u u
u u u u u u u u u
u u
+ +
+ + + +
+ + + +
3
) sq c s c u u
(3.63)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
100
2 2 2 3
3
2 2
3
2 2
2 8
(2 2
3 3
2 2 2
2 3 2
E E
E E
E E E
F d
pX c c s pX c s s p c p s s c dp sq s s s
dt
dp sq s s c p s s s pY s s s pY s s c p c s s c
p s c c p s c s pz s s pX c s c pX s s
u u u u u u u
u
u u u u u u
u u u u u u u u
c | |
= +
|
c
\ .
+ +
+
3 3 3 3 3
2 2
3 3 3
3 3 3 3 3 3 3
2 3 2 3
3 2
2 3 2 3
E E E E
E E
E
c
pX s s s X z s c dp cq s s c dpq sq c s s dz q sq c c
dz cq s c p c s c p c s s dpq sq c s c pY c s c
dpq cq s s c dpq cq s s s dz q cq s c dp cq s s s Y
u u u u u
u u u u u
u u u u
+ + +
+ +
+ +
3 3 3
3 3 3
2 2 2
2 3 3 2
2 3 3 8
4
4 2 4 2
3
E E
E E E
E E E E
E E E E
z c c
pY c s s pz c c dz sq c c dp sq c s c dp sq c s s
dp sq s c c dp sq s c s dz sq s s z X c c pz s s c
pz s c c pz c s pz c c pz c p c s
u
u u u u u
u u u u u u u u u u
u u u u u u
+
+ +
+ +
2 2 2 2
2 2 2
2 2
3
2
3 3 3
4
2
3
4
12 2 2
3
2 3 3
2 3 3
E E E E E
E E E E E E
E E
p p c c
p c s pz s z c pX c s c pX c s c pX c s s
pY s s s pY s s c Y z s s p c X z c s dp cq c c c
dp cq c c s dz cq c s z dp cq c s
u u u
u u u u u u u
u u u u u u u u u
u u u u
+ + +
+ + + + + +
+ + +
+
3
2 2 2 2 2 2 2
3 3
2
8 8 8
3 2
3 3 3
2 3 )
E
E E E E E
s dp cq c s c
p c c s z dp cq c s s dp cq c s c p c c s p c c s
pY s c c pX c c c pY s c s z Y s c
u u
u u u u u u u u u
u u u u u u u
+ +
+ +
(3.64)
2 2 2 2 3
3 3 3
2
(8 8 3 6 3 6
9
6 3 6 6 3 6
3 3 3 3 6
6
E E
E E E E E E
E E
F d
p p c s c p c c s p c p c z s z c
dt
X s c Y c s Y c c X c s Y s c Y s s
X c c X c c c d sq c c s d sq s c d sq c c c
d
u u u u u u
u u u
c | |
= + + + +
|
c
\ .
+
+ + +
3 3 3
3 3 3 3
3 3
3 6 3 6
3 3 6 6 3
6 3 6 3 6
3 6
E E E
E
E E E
sq s s X s s dq cq c s X s c s X s c c
d cq s c s d cq c c d cq s c c d cq c s Y c c s
Y c c c p c c s p c c c X c s s X c s c
d cq c s s d cq
u u
u u u
u u u u u u u
u u u
+ +
+ + + +
+ +
+
3 3 3
3 3
3
3 6 6 3
3 6 6 3 3
6 3 6 3 6 3
6 6
E E
E E
E
E
c s c Y s s s Y s s c p c c p s c
dcq c c c d cq c c s d cq s c Y s c c Y c c
X c c s p s c c p s c s d cq s s p s s c d sq s s s
d sq s s c Y c
u u u u u
u u u
u u u u u u u
u u
+ + +
+ + +
+ + + +
+
2 2 2
2
3 3 3
3 3 6 3 3
6 6 6 12 4 8
8 6 6 3 6 3
3 3
E E E
E E
E E E E E
s p s s s p X s s X s c z s c c
z s c s p c s s c p c c z c c p c s p c s
p c s z c s Y s c c Y s c s X c c c X c c s
dq sq c c s dq
u u u u
u u u u u u u u u u u u u
u u u u u u
u
+ +
+
+ + +
3 3 3 3 3 3 3
3 3 3 3 3
3 3 3
6 6 3
3 6 3 6 3
3 6 6 6 )
E
sq s c dq sq s s dq sq c c c dq cq s c s
dq cq c c dq cq s c c p c s Y s c s d sq s c c
d sq c s d sq s c s d sq c c p s s
u u
u u u
u
+ +
+ + +
+ +
(3.65)
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
101
4 4 4 4
0
E E E
F F F F d d d d
dt X dt Y dt Z dt
| | | | | | | | c c c c
= = = =
| | | |
c c c c
\ . \ . \ . \ .
(3.66)
4
2 1 2 1
3 3 3 3
E
F d
p s c p s s z c p c s p c c
dt
u u u u u u u u
u
c | |
= + + +
|
c
\ .
(3.67)
4
(2 2 )
3
F d p
c s c c s c s s
dt
u u u u u u
| | c
= + +
|
c
\ .
(3.68)
5 5 5 5
0
E E E
F F F F d d d d
dt X dt Y dt Z dt
| | | | | | c c c c | |
= = = =
| | | |
c c c c
\ . \ . \ . \ .
(3.69)
5
1 1 1 1
3 3 3 3
E
F d
p s c p s s z c p c s p c c
dt
u u u u u u u u
u
c | |
= + +
|
c
\ .
(3.70)
5
( )
3
F d p
c s c c s c s s
dt
u u u u u u
c | |
= + +
|
c
\ .
(3.71)
6 6 6 6
0
E E E
F F F F d d d d
dt X dt Y dt Z dt
| | | | | | c c c c | |
= = = =
| | | |
c c c c
\ . \ . \ . \ .
(3.72)
6
1 2 1 2
3 3 3 3
E
F d
p s c p s s z c p c s p c c
dt
u u u u u u u u
u
c | |
= + +
|
c
\ .
(3.73)
6
( 2 2 )
3
F d p
c s c c s c s s
dt
u u u u u u
c | |
= + +
|
c
\ .
(3.74)
3.3 Cinematica robotului Recrob
Avnd determinate n relaiile de mai sus cele doua matrice Jacobi, precum i derivatele lor in
raport cu timpul se pot afla n cele ce urmeaz, folosind relaiile (3.4) i (3.6), expresia
vitezelor i acceleraiilor efectorului final, precum i cele ale cuplelor motoare.
3.3.1 Cinematica invers
n cazul modelului cinematic invers se cunosc coordonatele generalizate ale efectorului final,
vitezele i acceleraiile acestuia i se cer poziiile, vitezele i acceleraiile cuplelor motoare
Folosind relaia (3.4) se poate determina expresia vitezelor cuplelor motoare:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
102
1
q B AX
(3.75)
Unde:
T
E E E
X X Y Z u
(
=
.
Acceleraiile cuplelor motoare se vor gsi folosind relaia (3.6):
1
( ) q B AX AX Bq
= + +
(3.76)
Unde:
T
E E E
X X Y Z u
(
=
.
Algoritmul pentru rezolvarea modelului cinematic invers este prezentat n tabelul 3.1.
Date , , , , , , , , , , , , , , , , ,
E E E E E E E E E
X Y Z X Y Z X Y Z u u u
Constante
, , , , , , , , , 1,2,3
i i i i i
A A A E E E B B
x y z x y z X Y d e i =
Necunoscute
3 3 3
, , , , , 1,2,3
i i i i i i
q q q q q q i
+ + +
=
Variabile Relaii de determinare
c ', c '', c '''
c ', c '', c '''
c ', c '', c '''
o o o
| | |
' '' '''
' '' '''
' '' '''
c c c c s s c c c s s c c c s
c s c c c s c s c s c c c s s
c s c c s s c c
o u o u o u
| u | u | u
u u u
= = =
= + = + =
= = =
Ai Ai Ai
X , Y , Z
i 1, 2, 3 =
, 1,2,3
i i
i i
i i
A A E
E
A E A E
E
A A E
X x x
X c c c
Y Y c c c y y i
c c c Z
Z z z
o o o
| | |
( (
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
103
, 3
1,2,3
i i
q q
i
+
=
1
( ) q B AX AX Bq
= + +
Tabel 3.1 Algoritmul pentru rezolvarea modelului cinematic invers pentru Recrob M=6 GDL
3.3.2 Cinematica direct
n cazul modelului cinematic direct sunt date coordonatele generalizate, vitezele i
acceleraiile cuplelor motoare i se vor determina coordonatele generalizate, vitezele i
acceleraiile efectorului final.
n cazul acesta, expresiile vitezelor, respectiv acceleraiile efectorului final se vor determina
folosind ecuaiile (3.4), respectiv (3.6):
1
X A Bq
(3.77)
1
( ) X A AX Bq Bq
= + +
(3.78)
Algoritmul pentru rezolvarea modelului cinematic direct este prezentat n tabelul 3.2.
Date
3 3 3
, , , , , 1,2,3
i i i i i i
q q q q q q i
+ + +
=
Constante
, , , , , , , , , 1,2,3
i i i i i
A A A E E E B B
x y z x y z X Y d e i =
Necunoscute , , , , , , , , , , , , , , , , ,
E E E E E E E E E
X Y Z X Y Z X Y Z u u u
Variabile Relaii de determinare
u
1
,w
1
1 3
2 2
5 4 6 5
1
A A
q q q q
s u
x y
u
| | | |
= = + | |
| |
\ . \ .
2
1 1
1 c w u u = =
u
3
, w
3
3
6 5
3
1 A
q q
u s
y u
= =
1
5 4
3
A
q q
w c
x
= =
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
104
1 1
atan2(u ,w ) u =
Z
E
1 3 1 3 1 5 E E E E
Z x u u y u u z w q = + + +
i i
D D
X , Y
i i
i i
D B i i
D B i i
X X d cq
Y Y d sq
= +
= +
Sistemul implicit de
funcii al robotului
( ) ( ) ( )
( ) ( )
( ) ( ) ( )
2
2 2
3 3
[ ' '' ''' ] [
'' ''' ] 0
' '' ''' 0
1,2,3
i i
i i i
i i i
i E A E A E A E Di E
A E A E D i
i E A E A E A E i
F X x x c y y c z z c X Y
y y c z z c Y e
F Z x x c y y c z z c q
i
o o o
| |
c
+ +
+ + + + +
+ =
+ + + =
E E
Y X , ,
( 1) ( ) 1 ( ) ( )
( ) ( )
p p p p
X X W X f X
+
= 0,1,2,3 p =
E
E
X
X Y
(
(
=
(
(
1
2
3
( )
( ) ( )
( )
F X
F X F X
F X
(
(
=
(
(
( )
1 1 1
2 2 2
3 3 3
E E
E E
E E
F F F
X Y
F F F
W X
X Y
F F F
X Y
( c c c
(
c c c
(
(
c c c
=
(
c c c
(
(
c c c
(
c c c
(
, , , A B A B
Relaiile (3.5) i (3.7)
, , , , ,
E E E
X Y Z u
1
X A Bq
, , , , ,
E E E
X Y Z u
1
( ) X A AX Bq Bq
= + +
Tabel 3.2 Algoritmul pentru rezolvarea modelului cinematic direct pentru Recrob M=6 GDL
3.4 Rezultate numerice privind cinematica robotului Recrob
3.4.1 Validarea modelului cinematic al robotului Recrob
Pentru validarea modelului cinematic obinut s-au realizat dou programe n pachetul
Software Matlab, unul pentru cinematica invers, cellalt pentru cinematica direct. Cele
dou programe trebuie s se verifice reciproc, conform schemei din fig. 3.1.
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
105
Fig. 3.1 Validarea modelului cinematic
Dac modelul cinematic este corect, se introduce un set de valori care reprezint poziia i
orientarea, viteza i acceleraia platformei mobile n modelul cinematic invers (MCI), de unde
vor rezulta coordonatele generalizate, vitezele i acceleraiile cuplelor motoare. Dac
introducem aceste valori n modelul cinematic direct (MCD) trebuie s rezulte setul de valori
iniiale. Un exemplu numeric realizat n acest sens este prezentat n fig. 3.2.
Pentru realizarea programelor au fost alei urmtorii parametrii geometrici (lungime de brae,
dar i coordonatele unor puncte fa de sistemul fix sau fa de sistemul mobil):
1 1
1
2 2 2
3 3 3
' ' '
1 2 3
1 2 3
1
1 3
58[ ]
109[ ]
100[ ], 168[ ]
, 0, 0
0, 0, 0
0, , 0
, , 40[ ]
3 3
, ,
i i i
i i i
A A
A
A A A
A A A
E E E
B B B i
B B B
d d d d mm
e e e e mm
p mm p mm
x p y z
x y z
x y p z
p p
x y z h mm
X X p Y Y Z Z q
+
= = = =
= = = =
= =
= = =
= = =
= = =
= = = =
= = = = +
(3.79)
De menionat faptul c n program au fost luate n considerare coordonatele motoare
msurate n sens trigonometric fa de axa OX a sistemului fix de coordonate, ntre cele dou
cazuri posibile existnd o singularitate de tipul I. Acest lucru este explicat detaliat n capitolul
2.
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
106
( ) 120[ ],140[ ],150[ ],5[ ],10[ ], 4[ ] mm mm mm
( ) 4[ / ], 4[ / ], 4[ / ], 4[ / ],4[ / ], 4[ / ] mm s mm s mm s s s s
( )
2 2 2 2 2 2
5[ / ],6[ / ],7[ / ],8[ / ],9[ / ],10[ / ] mm s mm s mm s s s s
( ) 12.542[ ],1.754[ ], 4.449[ ],177.440[ ],194.763[ ],195.974[ ] mm mm mm
( ) 8.821[ / ],0.469[ / ], 6.272[ / ], 314.785[ / ],73.333[ / ],170.102[ / ] s s s mm s mm s mm s
( )
2 2 2 2 2 2
192.22[ / ],126.17[ / ],16.46[ / ], 1864.39[ / ], 1766.49[ / ],1573.51[ / ] s s s mm s mm s mm s
( ) 120[ ],140[ ],150[ ],5[ / ],10[ / ],3.999[ / ] mm mm mm s s s
( ) 4[ / ],3.999[ / ],4[ / ],3.999[ / ],3.999[ / ],4[ / ] mm s mm s mm s s s s
( )
2 2 2 2 2 2
4.999[ / ],6[ / ],6.99[ / ],8[ / ],8.999[ / ],9.999[ / ] mm s mm s mm s s s s
Fig. 3.2 Exemplu numeric pentru validarea modelului cinematic
n fig. 3.2 se observ c unele coordonate, viteze sau acceleraii nu se verific exact, eroarea
rezultat se datoreaz algoritmului Newton-Raphson utilizat n cazul modelului cinematic
direct, unde datorit funciilor implicite neliniare nu s-a putut obine o soluie analitic pentru
coordonatele generalizate ale punctului caracteristic E, aparinnd platformei mobile.
Datorit faptului c verificarea modelului geometric invers cu cel direct nu reprezint o
verificare absolut a corectitudinii modelului geometric s-a realizat o verificare a poziiei end-
efectorului pentru coordonatele expuse n fig. 3.2, pe modelul CAD. Rezultatele (fig. 3.3)
demonstreaz c rezultate obinute n Matlab coincid cu cele CAD.
MCI
MCD
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
107
Fig. 3.3 Validarea CAD a modelului geometric
3.4.2 Simularea unei traiectorii de micare pentru robotul paralel Recrob
Avnd validat modelul cinematic al robotului Recrob, se poate trece mai departe la simularea
unei traiectorii n spaiul de lucru al robotului paralel Recrob. Pentru aceasta, s-a realizat un
alt program n pachetul software Matlab, al crui model de lucru va fi prezentat n cele ce
urmeaz. Parametrii geometrici folosii sunt prezentai n relaia (3.79).
Traiectoria aleas este una liniar, care ncepe din poziia de repaus (vitez i acceleraie
zero) pn cnd viteza atinge valoarea maxim impus cu care se deplaseaz pn la
decelerare care se face tot liniar cu acceleraia maxim pn cnd viteza atinge valoarea
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
108
zero. n funcie de valoarea maxim a vitezei, se disting dou cazuri posibile: n primul caz se
atinge viteza maxim, rezultnd astfel o traiectorie trapezoidal a vitezei, iar n al doilea caz
nu se atinge valoarea maxim a vitezei, deci viteza va avea o traiectorie triunghiular, [PS
05].
Generarea traiectoriei liniare
Pentru determinarea traiectoriei de micare a efectorului final, au fost stabilii urmtorii
parametrii de micare:
- Coordonate poziiei iniiale i finale, precum i a orientrii iniiale i finale a efectorului
final al robotului : , , , , ,
i i i
E E E i i i
X Y Z u i , , , , ,
f f f
E E E f f f
X Y Z u ;
- Valoarea vitezei maxime
max
v pe care o atinge efectorul final;
- Valoarea acceleraiei maxime
max
a pe care o atinge efectorul final;
- Valoarea vitezei unghiulare maxime
max
e pe care o atinge efectorul final;
- Valoarea acceleraiei maxime
max
c pe care o atinge efectorul final;
Cele dou cazuri posibile, amintite mai sus sunt detaliate n continuare:
1) Se atinge viteza maxim nainte de decelerare
n cazul unei variaii trapezoidale a vitezei, caz prezentat n fig. 3.4 [PIS 08], pe panta de
accelerare variaia vitezei este liniar (acceleraia este constant), deci micarea se
ncadreaz n micarea rectilinie uniform variat care este caracterizat de urmtoarele legi
de micare:
- Ecuaia spaiului:
2
0 0
2
t
s s v t a = + i
2
0 0
2
t
t
c
e = + (3.80)
- Ecuaia vitezei:
0
v v at = i
0
t e e c =
(3.81)
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
109
Fig. 3.4 Variaia spaiului, vitezei i acceleraiei pentru o traiectorie liniar [PIS 08]
Pe intervalul
| |
0 1
, t t se pot scrie ecuaiile:
2
0 0
2
t
s s v t a = + + i
0
v v at = + (3.82)
Cunoscndu-se faptul c micarea ncepe din repaus (
0
0 v = ), ecuaiile (3.82) devin:
2
0
2
t
s s a = + i v at = (3.83)
La limita intervalului, cnd
1
t t = ,
1
s s = avem:
2
1
1 0 max
2
t
s s a = + (3.84)
max
1
max
v
t
a
=
(3.85)
Pe intervalul
| |
1 2
, t t , avem , 0 v ct a = = i se pot scrie ecuaiile:
1 max 1
( ) s s v t t = +
(3.86)
La limita intervalului , cnd
2
t t = ,
2
s s = avem:
2 1 max 2 1
( ) s s v t t = +
(3.87)
Pe intervalul
| |
2 3
, t t , se pot scrie ecuaiile:
2
max 2
2 max 2
( )
( )
2
a t t
s s v t t
= + i
max 2
( ) v v a t t = (3.88)
La limit,
1
t t = i
3
s s = se poate scrie c:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
110
2
max 3 2
3 2 max 3 2
( )
( )
2
a t t
s s v t t
= + (3.89)
La limita intervalului avem 0 v = deci, din expresia (3.88) a vitezei rezult:
max max 3 2
( ) v a t t =
(3.90)
Din relaia (3.90), rezult:
max
3 2
max
v
t t
a
= +
(3.91)
Pentru determinarea timpului
2
t se vor nlocui n relaia (3.89) expresiile lui
2 1
, s s determinate
de relaiile (3.87) i (3.84), precum i intervalul timpul
3 2
t t extras din relaia (3.90)
2
max
3 2
max
v
s s
a
= +
(3.92)
n continuare:
2
max max
3 1 max 2
max max
v v
s s v t
a a
| |
= + +
|
\ .
(3.93)
Mai departe:
2 2
max max max
3 0 max max 2
max max max
2
v v v
s s a v t
a a a
| |
= + + +
|
\ .
(3.94)
Dup simplificrile posibile i reducerea termenilor asemenea, din relaia (3.94) rezult:
3 0
2
max
s s
t
v
=
(3.95)
Dup nlocuirea relaiei (3.95) n relaia (3.91) rezult:
3 0 max
3
max max
s s v
t
v a
= +
(3.96)
Cunoscnd timpii de pornire, accelerare, frnare, oprire se poate determina
max
c scriind
ecuaiile de micare ale unuia dintre unghiurile lui Euler , , u pe cele trei intervale (fig. 3.4).
Se consider c pe intervalul
| |
0 1
, t t micarea se realizeaz din repaus:
0
0 t = . Aadar, n
intervalul
| |
0 1
, t t se pot scrie ecuaiile de micare:
2
0 0
2
t
t
c
e = + + (3.97)
La limita intervalului , considernd i c
0
0 e = ,
1 0
= ,
1
t t = , se poate scrie c:
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
111
2
1
1
2
t c
= i
max max 1
t e c = (3.98)
Prin analogie ecuaiile de micare pentru unghiurile , u sunt:
2
1
1
2
t
c
=
2
1
1
2
t
u
c
u =
2
1
1
2
t
c
= (3.99)
n intervalul
| |
1 2
, t t ecuaia de micare este:
( )
( )
2
1
1 1 1
2
t t
t t
c
e
= + +
(3.100)
Lund n considerare faptul c 0 = ,
2
t t = ,
2
= rezult din ecuaia (3.100):
2 1 max 2 1 1 max 1 2 1
( ) ( ) t t t t t e c = + = +
(3.101)
Prin analogie ecuaiile de micare pentru celelalte dou unghiuri, pe intervalul
| |
1 2
, t t , funcie
de acceleraia unghiular maxima sunt:
2 1 max 1 2 1
2 1 max 1 2 1
2 1 max 1 2 1
( )
( )
( )
t t t
t t t
t t t
c
u u c
c
= +
= +
= +
(3.102)
n intervalul
| |
2 3
, t t ecuaia de micare este:
( )
( )
2
2
2 2 2
2
t t
t t
c
e
= +
(3.103)
La limita intervalului avem
3
= ,
3
t t = deci ecuaia de micare pe poriunea de frnare
devine:
( )
( )
2
3 2
3 2 max 3 2
2
t t
t t
c
e
= +
(3.104)
n relaia (3.104), exprimnd viteza unghiular maxim n funcie de acceleraia unghiular
maxim, ecuaiile de micare ale unghiurilor , , u devin:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
112
( )
( )
( )
( )
( )
( )
2
max 3 2
3 2 max 1 3 2
2
max 3 2
3 2 max 1 3 2
2
max 3 2
3 2 max 1 3 2
2
2
2
t t
t t t
t t
t t t
t t
t t t
u
u
c
c
c
u u c
c
c
= +
= +
= +
(3.105)
Prin adunarea unghiurilor
1 2 3
, , se obine o relaie ntre unghiul ce trebuie parcurs, timpii
de micare
1 2 3
, , t t t si acceleraia unghiular maxim corespunztoare unghiului :
max
c .
2 2
max 1 max 3 2
1 2 3 1 2 max 1 2 1 max 1 3 2
( )
( ) ( )
2 2
t t t
t t t t t t
c c
c c
+ + = + + + + (3.106)
Dup reducerea termenilor asemenea se ajunge la:
2 2
max 1 3 max 1 max 3 2
2 ( )
2
t t t t t
c c c
= (3.107)
Rezult c:
2 2
1 3 1 3 2
max
2 ( )
2
t t t t t
c
= (3.108)
Din relaia (3.107) rezult expresia acceleraiei unghiulare maxime corespunztoare unghiului
:
max 2 2
1 3 1 3 2
2
2 ( ) t t t t t
c =
(3.109)
n mod analog acceleraiile unghiulare maxime corespunztoare celorlalte unghiuri vor fi:
max 2 2
1 3 1 3 2
max 2 2
1 3 1 3 2
2
2 ( )
2
2 ( )
t t t t t
t t t t t
c
u
c
=
=
(3.110)
Pentru simularea traiectoriei rectilinii, se consider cunoscute coordonatele capetelor
segmentului din spaiu aflat n spaiul de lucru al robotului. Pentru determinarea valorilor
instantanee ale poziiei, vitezei i acceleraiei pe cele trei axe, se vor introduce notaiile
urmtoare ilustrate n fig. 3.6 [VAI 08]:
- AB segmentul din spaiu considerat;
- CD proiecia segmentului AB pe planul OXY;
- o - unghiul dintre AB i CD;
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
113
- | - unghiul dintre CD i proiecia acestuia pe axa OX;
Z
Z
Y
X
i
f
Z
i
X
X
f
Y
i
Y
f
A
B
D
o
Fig. 3.6 Descompunerea unui vector pe cele trei axe [VAI 08]
( ) ( ) ( )
2 2 2
f i f i f i
E E E E E E
AB X X Y Y Z Z = + +
( ) ( )
2 2
f i f i
E E E E
AD X X Y Y = +
( ) cos
f i
E E
Z Z
AB
o
= ;
( ) sin
AD
AB
o =
( ) cos
f i
E E
X X
AD
|
= ;
( ) sin
f i
E E
Y Y
AD
|
=
(3.111)
- Intervalul
| |
0 1
, t t
Pe acest interval avem:
1
0 t t s s ,
0 1
s s s s s ,
max
a a = ,
max
c c = .
Pe baza ecuaiilor fundamentale ale mecanicii pentru o micare rectilinie uniform variat, se
determin valorile intermediare ale poziiei vitezei i acceleraiei efectorului final, pentru ca,
pe baza modelului cinematic invers, s se poat determina valorile intermediare n cuplele
motoare:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
114
2 2 2 max max max
max max 2 2 2 max
s c ; s s ; c
2 2 2
; ;
2 2 2
i i i
E E E E E E
i i i
a a a
X X t Y Y t Z Z t
t t t
u
o | o | o
c c
c
u u
= + = + = +
= + = + = +
(3.112)
max max max
max max max
s c ; s s ; cos
; ;
E E E
X a t Y a t Z a t
t t t
u
o | o | o
c u c c
= = =
= = =
(3.113)
max max max
max max max
s c ; s s ; c
; ;
E E E
X a Y a Z a
u
o | o | o
c u c c
= = =
= = =
(3.114)
- Intervalul
| |
1 2
, t t
Pe acest interval avem:
1 2
t t t s s ,
1 2
s s s s s , 0 a c = = ,
max
v v = ,
max
e e = .
n acest interval de timp micarea este rectilinie uniform, caz n care se pot scrie
urmtoarele ecuaii care descriu micarea. Platforma mobil se va mica cu vitez constant
pe acest interval de timp, noul punct iniial avnd coordonatele:
( )
1 1 1
1 1 1
, , , , ,
E E E
X Y Z u .
( ) ( ) ( )
( ) ( ) ( )
1 1 1
max 1 max 1 max 1
1 max 1 1 max 1 1 max 1
s c ; s s ; c
; ; ;
E E E E E E
X X v t t Y Y v t t Z Z v t t
t t t t t t
o | o | o
e u u e e
= + = + = +
= + = + = +
(3.115)
max max max
max max max
s c ; s s ; c
; ;
E E E
X v Y v Z v o | o | o
e u e e
= = =
= = =
(3.116)
0; 0; 0
0; 0; 0;
E E E
X Y Z
u
= = =
= = =
(3.117)
- Intervalul
| |
2 3
, t t
Pe acest interval avem:
2 3
t t t s s ;
2 3
s s s s s ;
max
a a = ;
max
c c = .
Micarea realizat pe acest interval este una rectilinie uniform variat i are aceeai durat ca
i intervalul de accelerare. Se consider c pe acest interval punctul iniial corespunztor are
coordonatele:
( )
2 2 2
2 2 2
, , , , ,
E E E
X Y Z u Ecuaiile care caracterizeaz micare pe intervalul 3 de
timp sunt:
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
115
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
2
2
2
2
max
max 2 2
2
max
max 2 2
2
max
max 2 2
2
max
2 max 2 2
2
max
2 max 2 2
max
2 max 2 2
s c
2
s s
2
c
2
2
2
2
E E
E E
E E
a
X X v t t t t
a
Y Y v t t t t
a
Z Z v t t t t
t t t t
t t t t
t t t t
u
u
o |
o |
o
c
e
c
u u e
c
e
| |
= +
|
\ .
| |
= +
|
\ .
| |
= +
|
\ .
= +
= +
= +
2
(3.118)
( ) ( ) ( )
( ) ( ) ( )
2 2 2
max 2 max 2 max 2
2 max 2 2 max 2 2 max 2
s c ; s s ; c
; ;
E E E E E E
X X a t t Y Y a t t Z Z a t t
t t t t t t
u
o | o | o
c u u c c
= = =
= = =
(3.119)
max max max
max max max
s c ; s s ; c
; ; ;
E E E
X a Y a Z a
u
o | o | o
c u c c
= = =
= = =
(3.120)
2) Nu se atinge viteza maxim nainte de decelerare
n al doilea caz de realizare a micrii n care nu se atinge viteza maxim nainte de
nceperea fnrii, caz prezentat n fig. 3.6 [PIS 08],[VAI 08].
Fig. 3.6 Variaia spaiului, vitezei i acceleraiei pentru o traiectorie liniar [PIS 08]
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
116
n cel de-al doilea caz posibil, timpii t
1
i t
2
se suprapun, existnd doar dou intervale
(intervalul de accelerare i cel de frnare) egale ntre ele. Timpul t12 se determin scriind
ecuaia spaiului pe intervalul
| |
0 12
, t t :
2
max 12
12 0
2
a t
s s = + (3.121)
Dar:
12 0
2
f i
s s
s s
= (3.122)
Deci:
12 3 12
max
; 2
f i
s s
t t t
a
= =
(3.123)
Pentru determinarea acceleraiilor unghiulare maxime se scrie legea de micare pe intervalul
| |
0 12
, t t pentru una dintre coordonatele , , u .
2
max 12
12 0
2
t
c
= +
(3.124)
Deci:
( )
12
max 2
12
2
i
t
c
= (3.125)
n mod analog, acceleraiile unghiulare maxime corespunztoare unghiurilor , u sun:
( )
12
max 2
12
2
i
t
u
u u
c
= (3.126)
( )
12
max 2
12
2
i
t
c
= (3.126)
- Intervalul
| |
0 12
, t t
Avem:
0 12
t t t s s ,
0 12
s s s s s ,
max
a a = ,
max
c c =
Legile de micare corespunztoare traiectoriei considerate sunt:
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
117
2 2 2 max max max
max max 2 2 2 max
s c ; s s ; c
2 2 2
; ;
2 2 2
i i i
E E E E E E
i i i
a a a
X X t Y Y t Z Z t
t t t
u
o | o | o
c c
c
u u
= + = + = +
= + = + = +
(3.127)
max max max
max max max
s c ; s s ; cos
; ;
E E E
X a t Y a t Z a t
t t t
u
o | o | o
c u c c
= = =
= = =
(3.128)
max max max
max max max
s c ; s s ; c
; ;
E E E
X a Y a Z a
u
o | o | o
c u c c
= = =
= = =
(3.129)
- Intervalul
| |
12 3
, t t
Avem:
12 3
t t t s s ,
12 3
s s s s s ,
max
a a = ,
max
c c = .
i pe acest interval avem o micare rectilinie uniform variat, timpul de decelerare fiind egal
cu timpul de accelerare din intervalul anterior. Se consider c coordonatele punctului iniial
sunt:
( )
12 12 12
12 12 12
, , , , ,
E E E
X Y Z u , deci legile de micare corespunztoare acestui interval
devin:
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
12
12
12
2
max
max 12 12
2
max
max 12 12
2
max
max 12 12
2
max
12 max 12 12
2
max
12 max 12 12
12 max
s c
2
s s
2
c
2
2
2
E E
E E
E E
a
X X v t t t t
a
Y Y v t t t t
a
Z Z v t t t t
t t t t
t t t t
u
u
o |
o |
o
c
e
c
u u e
e
| |
= +
|
\ .
| |
= +
|
\ .
| |
= +
|
\ .
= +
= +
= + ( ) ( )
2
max
12 12
2
t t t t
c
(3.118)
( ) ( ) ( )
( ) ( ) ( )
12 12 21
max 12 max 12 max 12
12 max 12 12 max 12 12 max 12
s c ; s s ; c
; ;
E E E E E E
X X a t t Y Y a t t Z Z a t t
t t t t t t
u
o | o | o
c u u c c
= = =
= = =
(3.119)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
118
max max max
max max max
s c ; s s ; c
; ; ;
E E E
X a Y a Z a
u
o | o | o
c u c c
= = =
= = =
(3.120)
Pe baza legilor de micare descrise mai sus s-a realizat un program Matlab care permite
calculul variaiei cuplelor motoare (poziie, vitez i acceleraie) pentru o traiectorie rectilinie
dat a punctului caracteristic E( ) , , , , ,
E E E
X Y Z u aparinnd platformei mobile.
Parametri folosii n acest program sunt prezentai n (3.79). Coordonatele punctelor ntre care
s-a realizat micarea, exprimate n [mm] datorit dimensiunilor reduse ale robotului ct i
pentru o ct mai bun precizie a calculului matematic sunt: ( ) 120, 140, 150 A i
( ) 140, 130, 130 B . Pasul de timp utilizat pentru toate simulrile este de 0.01 secunde.
n continuare vor fi prezentate rezultatele reconfigurrii, cu parametrii i constantele indicate.
Pentru cazul general de reconfigurare, cnd robotul Recrob are M=6 GDL s-au fcut mai
multe particularizri, pentru celelalte cazuri de reconfigurare se vor prezenta doar cazurile
pentru o traiectorie oarecare n spaiul de lucru.
Traiectorie paralel cu axa Z a robotului Recrob M=6 GDL
Prima traiectorie prezentat n cazul acestor simulri numerice, este una paralel cu axa Z.
Situaia prezentat n fig. 3.7 reprezint variaia spaiului, vitezei i acceleraiei efectorului
final al robotului Recrob M=6 GDL, fig. 3.8 reprezint variaia spaiului, vitezei i acceleraiei
coordonatelor motoare ale robotului Recrob M=6 GDL . Pentru realizarea micrii se
consider constantele:
2
max max
140[ ]; 1[ ]; 5[ ]; 1[ ]; 10[ ]; 1[ ]; 4[ ];
150[ ]; 130[ ]; 100[ / ]; 1000[ / ]
i f i f
i f
E E E E i f i f i f
E E
X X Y Y mm
Z mm Z mm v mm s a mm s
u u = = = = = = = = = =
= = = =
Traiectorie paralel cu axa Y a robotului Recrob M=6 GDL
A doua traiectorie simulat reprezint o deplasare paralel cu axa X a sistemului fix de
coordonate. Pentru realizarea simulrii s-au ales urmtoarele coordonate ale efectorului final:
2
max max
120[ ]; 1[ ]; 5[ ]; 1[ ]; 10[ ]; 1[ ]; 4[ ];
120[ ]; 140[ ]; 100[ / ]; 1000[ / ]
i f i f
i f
E E E E i f i f i f
E E
X X Z Z mm
Y mm Y mm v mm s a mm s
u u = = = = = = = = = =
= = = =
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
119
Astfel, fig. 3.9 reprezint variaia coordonatelor efectorului final, iar fig. 3.10 reprezint
variaia coordonatelor cuplelor motoare pentru acest caz.
Traiectorie paralel cu axa X a robotului Recrob M=6 GDL
Ultima particularizare a traiectoriei generale este cea n care robotul execut o micare
paralel cu axa X. Pentru realizarea micrii s-au ales urmtoarele coordonate i parametrii:
2
max max
130[ ]; 1[ ]; 5[ ]; 1[ ]; 10[ ]; 1[ ]; 4[ ];
120[ ]; 140[ ]; 100[ / ]; 1000[ / ]
i f i f
i f
E E E E i f i f i f
E E
Y Y Z Z mm
X mm X mm v mm s a mm s
u u = = = = = = = = = =
= = = =
Fig. 3.11 prezint rezultatele simulrii pentru poziiile, vitezele i acceleraiile efectorului final,
iar fig. 3.12 prezint variaia poziiilor, vitezelor i acceleraiilor coordonatelor motoare.
Traiectorie liniar oarecare a robotului Recrob M=6 GDL
Coordonatele pentru care s-a fcut simularea n acest caz sunt:
120[ ]; 140[ ]; 140[ ]; 130[ ]; 150[ ]; 130[ ];
1[ ]; 5[ ]; 1[ ]; 10[ ]; 1[ ]; 4[ ];
i f i f i f
E E E E E E
i f i f i f
X mm X mm Y mm Y mm Z mm Z mm
u u
= = = = = =
= = = = = =
S-au realizat dou cazuri pentru generarea traiectoriei liniare oarecare: n primul caz se
atinge viteza maxim. n acest caz,
2
max max
100[ / ]; 1000[ / ] v mm s a mm s = = . n fig. 3.13 este
prezentat variaia coordonatelor cuplelor motoare, iar n fig. 3.14 este prezentat variaia
cuplelor motoare. Pentru cazul n care viteza are o variaie triunghiular. Pentru a realiza
acest lucru, pentru aceleai dou puncte A i B alese n spaiul de lucru al robotului s-a mrit
viteza maxim i acceleraia maxim de 10 ori:
2
max max
1[ / ]; 10[ / ] v m s a m s = = . Pentru acest
caz, variaiile poziiilor, vitezelor i acceleraiilor coordonatelor generalizate ale efectorului i
final i ale cuplelor motoare sunt prezentate n figurile 3.15 i 3.16.
Traiectorie liniar oarecare a robotului Recrob M=5 GDL
n continuare, pentru fiecare caz de reconfigurare, se vor reprezenta variaiile coordonatelor
efectorului final i ele cuplelor motoare. n cazul n care robotul are 5 GDL, unghiul 0 = i
cuplele motoare q
5
i q
6
sunt egale. Figurile 3.17 i 3.18 prezint variaia n timp a poziiilor,
vitezelor i acceleraiilor efectorului final, respectiv a cuplelor motoare. Coordonatele pentru
care s-a realizat simulare unt:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
120
120[ ]; 140[ ]; 140[ ]; 130[ ]; 150[ ]; 130[ ];
1[ ]; 5[ ]; 1[ ]; 10[ ]; 0[ ]; 0[ ];
i f i f i f
E E E E E E
i f i f i f
X mm X mm Y mm Y mm Z mm Z mm
u u
= = = = = =
= = = = = =
Traiectorie liniar oarecare a robotului Recrob M=4 GDL
n cazul n care robotul are patru rade de libertate, coordonatele cuplelor motoare q
4
, q
5
i q
6
sunt egale i unghiurile u i sunt nule. Coordonatele pentru care s-a realizat simulare sunt:
120[ ]; 140[ ]; 140[ ]; 130[ ]; 150[ ]; 130[ ];
1[ ]; 5[ ]; 0[ ]; 0[ ]; 0[ ]; 0[ ];
i f i f i f
E E E E E E
i f i f i f
X mm X mm Y mm Y mm Z mm Z mm
u u
= = = = = =
= = = = = =
Traiectorie liniar oarecare a robotului Recrob M=3 GDL(translaie spaial)
n cazul translaiei spaiale, unghiurile de orientare sunt nule. Coordonatele pentru care s-a
fcut simularea sunt:
120[ ]; 140[ ]; 140[ ]; 130[ ]; 150[ ]; 130[ ];
0[ ]; 0[ ]; 0[ ]; 0[ ]; 0[ ]; 0[ ];
i f i f i f
E E E E E E
i f i f i f
X mm X mm Y mm Y mm Z mm Z mm
u u
= = = = = =
= = = = = =
Traiectorie liniar oarecare a robotului Recrob M=3 GDL(micare plan)
Coordonatele pentru care s-a realizat simularea pentru configuraia robotului care realizeaz
o micarea plan paralel sunt:
120[ ]; 140[ ]; 140[ ]; 130[ ]; ;
1[ ]; 5[ ]; 0[ ]; 0[ ]; 0[ ]; 0[ ];
i f i f i f
E E E E E E
i f i f i f
X mm X mm Y mm Y mm Z Y ct
u u
= = = = = =
= = = = = =
Traiectorie liniar oarecare a robotului Recrob M=2 GDL
Coordonatele pentru realizarea ultimei configuraii sunt:
120[ ]; 140[ ]; 140[ ]; 130[ ]; ;
0[ ]; 0[ ]; 0[ ]; 0[ ]; 0[ ]; 0[ ];
i f i f i f
E E E E E E
i f i f i f
X mm X mm Y mm Y mm Z Y ct
u u
= = = = = =
= = = = = =
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
121
0 0.05 0.1 0.15 0.2 0.25 0.3
139.98
140
140.02
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
0.005
0.01
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0
1
x 10
3
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
139.98
140
140.02
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.01
0
0.01
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0
1
x 10
3
t[s]
a
Y
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
130
140
150
t[s]
Z
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
100
50
0
t[s]
v
Z
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1000
0
1000
t[s]
a
Z
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
2
4
t[s]
p
s
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
10
20
t[s]
v
p
s
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
200
0
200
t[s]
a
p
s
i
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
5
10
t[s]
t
h
e
t
a
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
20
40
t[s]
v
t
h
e
t
a
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
400
200
0
200
400
t[s]
a
t
h
e
t
a
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
2
4
t[s]
p
h
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
5
10
15
t[s]
v
p
h
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
100
0
100
t[s]
a
p
h
i
[
/
s
2
]
Fig. 3.7 Variaia spaiului, vitezei i acceleraiei efectorului final al robotului Recrob M=6 GDL
pentru o traiectorie paralel cu axa Z
0 0.05 0.1 0.15 0.2 0.25 0.3
0.54
0.52
0.5
0.48
0.46
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
0.2
0.4
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
5
0
5
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
9.35
9.4
9.45
9.5
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
0.05
0.1
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0
1
2
3
t[s]
a
q
2
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
9.2
9.3
9.4
t[s]
q
3
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.4
0.2
0
t[s]
v
q
3
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
4
2
0
2
4
t[s]
a
q
3
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
170
180
190
t[s]
q
4
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
150
100
50
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1000
0
1000
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
175
180
185
190
t[s]
q
5
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
60
40
20
0
t[s]
v
q
5
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
500
0
500
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
175
180
185
190
t[s]
q
6
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
60
40
20
0
t[s]
v
q
6
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
500
0
500
t[s]
a
q
6
[
m
m
/
s
2
]
Fig. 3.8 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=6 GDL
pentru o traiectorie paralel cu axa Z
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
122
0 0.05 0.1 0.15 0.2
119.98
120
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2
0
0.005
0.01
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2
1
0
1
x 10
3
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2
130
135
140
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2
100
50
0
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2
1000
0
1000
t[s]
a
Y
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2
119.98
120
t[s]
Z
e
[
m
m
]
0 0.05 0.1 0.15 0.2
0
0.005
0.01
t[s]
v
Z
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2
1
0
1
x 10
3
t[s]
a
Z
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2
2
4
t[s]
p
s
i
[
]
0 0.05 0.1 0.15 0.2
0
20
40
t[s]
v
p
s
i
[
/
s
]
0 0.05 0.1 0.15 0.2
400
200
0
200
400
t[s]
a
p
s
i
[
/
s
2
]
0 0.05 0.1 0.15 0.2
5
10
t[s]
t
h
e
t
a
[
]
0 0.05 0.1 0.15 0.2
0
50
t[s]
v
t
h
e
t
a
[
/
s
]
0 0.05 0.1 0.15 0.2
500
0
500
t[s]
a
t
h
e
t
a
[
/
s
2
]
0 0.05 0.1 0.15 0.2
2
4
t[s]
p
h
i
[
]
0 0.05 0.1 0.15 0.2
0
20
t[s]
v
p
h
i
[
/
s
]
0 0.05 0.1 0.15 0.2
200
0
200
t[s]
a
p
h
i
[
/
s
2
]
Fig. 3.9 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=6 GDL
pentru o traiectorie paralel cu axa Y
0 0.05 0.1 0.15 0.2
4
2
0
2
4
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2
1
0.5
0
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2
10
0
10
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2
8
6
4
2
0
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2
1.5
1
0.5
0
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2
20
0
20
t[s]
a
q
2
[
/
s
2
]
0 0.05 0.1 0.15 0.2
8
6
4
2
0
t[s]
q
3
[
]
0 0.05 0.1 0.15 0.2
2
1
0
t[s]
v
q
3
[
/
s
]
0 0.05 0.1 0.15 0.2
20
0
20
t[s]
a
q
3
[
/
s
2
]
0 0.05 0.1 0.15 0.2
159.7
159.8
159.9
160
t[s]
q
4
[
m
m
]
0 0.05 0.1 0.15 0.2
100
50
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2
1000
0
1000
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2
160
160.1
160.2
t[s]
q
5
[
m
m
]
0 0.05 0.1 0.15 0.2
0
20
40
t[s]
v
q
5
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2
500
0
500
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2
160
160.1
160.2
t[s]
q
6
[
m
m
]
0 0.05 0.1 0.15 0.2
0
20
40
t[s]
v
q
6
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2
500
0
500
t[s]
a
q
6
[
m
m
/
s
2
]
Fig. 3.10 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=6
GDL pentru o traiectorie paralel cu axa Y
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
123
0 0.05 0.1 0.15 0.2 0.25 0.3
120
130
140
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
50
100
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1000
0
1000
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
129.98
130
130.02
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.01
0
0.01
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0
1
x 10
3
t[s]
a
Y
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
129.98
130
130.02
t[s]
Z
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
0.005
0.01
t[s]
v
Z
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0
1
x 10
3
t[s]
a
Z
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
2
4
t[s]
p
s
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
10
20
t[s]
v
p
s
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
200
0
200
t[s]
a
p
s
i
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
5
10
t[s]
t
h
e
t
a
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
20
40
t[s]
v
t
h
e
t
a
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
400
200
0
200
400
t[s]
a
t
h
e
t
a
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
2
4
t[s]
p
h
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
5
10
15
t[s]
v
p
h
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
100
0
100
t[s]
a
p
h
i
[
/
s
2
]
Fig. 3.11 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=6 GDL
pentru o traiectorie paralel cu axa X
0 0.05 0.1 0.15 0.2 0.25 0.3
10
8
6
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.1
0
0.1
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
2
0
2
4
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
8
6
4
2
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
0.2
0.4
0.6
0.8
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
10
0
10
t[s]
a
q
2
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
8
6
4
2
t[s]
q
3
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
0.1
0.2
0.3
t[s]
v
q
3
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
4
2
0
2
t[s]
a
q
3
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
169.7
169.8
169.9
170
t[s]
q
4
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
40
20
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
500
0
500
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
170
170.1
170.2
t[s]
q
5
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
10
20
t[s]
v
q
5
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
200
0
200
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
170
170.1
170.2
t[s]
q
6
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
10
20
t[s]
v
q
6
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
200
0
200
t[s]
a
q
6
[
m
m
/
s
2
]
Fig. 3.12 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=6
GDL pentru o traiectorie paralel cu axa X
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
124
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
120
130
140
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
20
40
60
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
130
135
140
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
30
20
10
0
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
200
0
200
t[s]
a
Y
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
130
140
150
t[s]
Z
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
60
40
20
0
t[s]
v
Z
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
Z
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
1
2
3
4
5
t[s]
p
s
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
5
10
t[s]
v
p
s
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
100
0
100
t[s]
a
p
s
i
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
2
4
6
8
10
t[s]
t
h
e
t
a
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
10
20
30
t[s]
v
t
h
e
t
a
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
200
0
200
t[s]
a
t
h
e
t
a
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
1
2
3
4
t[s]
p
h
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
5
10
t[s]
v
p
h
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
100
0
100
t[s]
a
p
h
i
[
/
s
2
]
Fig. 3.13 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=6 GDL
pentru o traiectorie liniar oarecare caz 1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
10
5
0
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.6
0.4
0.2
0
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
5
0
5
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.5
0
0.5
1
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.2
0.1
0
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
2
0
2
t[s]
a
q
2
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
1
0
1
t[s]
q
3
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.4
0.2
0
t[s]
v
q
3
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
4
2
0
2
4
t[s]
a
q
3
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
170
180
190
t[s]
q
4
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
100
50
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
1000
0
1000
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
175
180
185
190
t[s]
q
5
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
40
20
0
t[s]
v
q
5
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
400
200
0
200
400
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
175
180
185
190
t[s]
q
6
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
40
20
0
t[s]
v
q
6
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
400
200
0
200
400
t[s]
a
q
6
[
m
m
/
s
2
]
Fig. 3.14 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=6
GDL pentru o traiectorie liniar oarecare caz 1
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
125
0 0.05 0.1 0.15 0.2 0.25 0.3
120
130
140
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
50
100
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
500
0
500
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
130
135
140
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
40
20
0
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
200
0
200
t[s]
a
Y
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
130
140
150
t[s]
Z
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
100
50
0
t[s]
v
Z
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
500
0
500
t[s]
a
Z
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
2
3
4
5
t[s]
p
s
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
10
20
t[s]
v
p
s
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
100
0
100
t[s]
a
p
s
i
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
2
4
6
8
10
t[s]
t
h
e
t
a
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
20
40
t[s]
v
t
h
e
t
a
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
200
0
200
t[s]
a
t
h
e
t
a
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
2
3
4
t[s]
p
h
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
5
10
15
t[s]
v
p
h
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
100
0
100
t[s]
a
p
h
i
[
/
s
2
]
Fig. 3.15 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=6 GDL
pentru o traiectorie liniar oarecare caz 2
0 0.05 0.1 0.15 0.2 0.25 0.3
10
5
0
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0.5
0
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
5
0
5
10
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.5
0
0.5
1
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.2
0.1
0
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
2
0
2
4
6
8
t[s]
a
q
2
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0
1
t[s]
q
3
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.6
0.4
0.2
0
t[s]
v
q
3
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
5
0
5
t[s]
a
q
3
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
170
180
190
t[s]
q
4
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
150
100
50
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1000
0
1000
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
175
180
185
190
t[s]
q
5
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
80
60
40
20
0
t[s]
v
q
5
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
400
200
0
200
400
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
175
180
185
190
t[s]
q
6
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
80
60
40
20
0
t[s]
v
q
6
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
400
200
0
200
400
t[s]
a
q
6
[
m
m
/
s
2
]
Fig. 3.16 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=6
GDL pentru o traiectorie liniar oarecare caz 2
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
126
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
120
130
140
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
20
40
60
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
130
135
140
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
30
20
10
0
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
200
0
200
t[s]
a
Y
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
130
140
150
t[s]
Z
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
60
40
20
0
t[s]
v
Z
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
Z
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
2
4
t[s]
p
s
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
5
10
t[s]
v
p
s
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
100
0
100
t[s]
a
p
s
i
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
5
10
t[s]
t
h
e
t
a
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
10
20
30
t[s]
v
t
h
e
t
a
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
200
0
200
t[s]
a
t
h
e
t
a
[
/
s
2
]
x 10
3
Fig. 3.17 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=5 GDL
pentru o traiectorie liniar oarecare
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
10
5
0
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.8
0.6
0.4
0.2
0
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
10
5
0
5
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.5
0
0.5
1
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.2
0.1
0
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
2
0
2
t[s]
a
q
2
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
1
0
1
t[s]
q
3
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.3
0.2
0.1
0
t[s]
v
q
3
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
2
0
2
t[s]
a
q
3
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
170
180
190
t[s]
q
4
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
100
50
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
1000
0
1000
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
175
180
185
190
t[s]
q
5
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
40
20
0
t[s]
v
q
5
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
400
200
0
200
400
t[s]
a
q
5
[
m
m
/
s
2
]
Fig. 3.18 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=5
GDL pentru o traiectorie liniar oarecare
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
127
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
120
130
140
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
20
40
60
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
130
135
140
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
30
20
10
0
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
200
0
200
t[s]
a
Y
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
130
140
150
t[s]
Z
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
60
40
20
0
t[s]
v
Z
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
Z
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
2
4
t[s]
p
s
i
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
5
10
t[s]
v
p
s
i
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
100
0
100
t[s]
a
p
s
i
[
/
s
2
]
3
Fig. 3.19 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=4
GDL pentru o traiectorie liniar oarecare
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
10
5
0
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.8
0.6
0.4
0.2
0
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
5
0
5
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.5
0
0.5
1
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.3
0.2
0.1
0
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
2
0
2
t[s]
a
q
2
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
1
0
1
t[s]
q
3
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0.4
0.2
0
t[s]
v
q
3
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
4
2
0
2
t[s]
a
q
3
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
170
180
190
t[s]
q
4
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
60
40
20
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
q
4
[
m
m
/
s
2
]
190 0
Fig. 3.20 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=4
GDL pentru o traiectorie liniar oarecare
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
120
130
140
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
20
40
60
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
130
135
140
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
30
20
10
0
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
200
0
200
t[s]
a
Y
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
130
140
150
t[s]
Z
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
60
40
20
0
t[s]
v
Z
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
500
0
500
t[s]
a
Z
e
[
m
m
/
s
2
]
x 10
3
Fig. 3.21 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=3 GDL
(translaie spaial) pentru o traiectorie liniar oarecare
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
128
Fig. 3.22 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=3
GDL (translaie spaial) pentru o traiectorie liniar oarecare
Fig. 3.23 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=3 GDL
(micare plan) pentru o traiectorie liniar oarecare
0 0.05 0.1 0.15 0.2 0.25 0.3
10
5
0
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0.5
0
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
10
0
10
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.5
0
0.5
1
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.4
0.2
0
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
4
2
0
2
4
t[s]
a
q
2
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0
1
t[s]
q
3
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.4
0.2
0
t[s]
v
q
3
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
5
0
5
t[s]
a
q
3
[
/
s
2
]
x 10
3
Fig. 3.24 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=3
GDL (micare plan) pentru o traiectorie liniar oarecare
Relaii pentru viteze i acceleraii pentru robotul paralel reconfigurabil cu M=6 grade de libertate
129
0 0.05 0.1 0.15 0.2 0.25 0.3
120
130
140
t[s]
X
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0
20
40
60
80
t[s]
v
X
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
500
0
500
t[s]
a
X
e
[
m
m
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
130
135
140
t[s]
Y
e
[
m
m
]
0 0.05 0.1 0.15 0.2 0.25 0.3
40
20
0
t[s]
v
Y
e
[
m
m
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
400
200
0
200
400
t[s]
a
Y
e
[
m
m
/
s
2
]
3
Fig. 3.25 Variaia spaiului, vitezei i acceleraiei efectorului final ale robotului Recrob M=2 GDL
pentru o traiectorie liniar oarecare
0 0.05 0.1 0.15 0.2 0.25 0.3
10
5
0
t[s]
q
1
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
1
0.5
0
t[s]
v
q
1
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
10
0
10
t[s]
a
q
1
[
/
s
2
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.5
0
0.5
1
t[s]
q
2
[
]
0 0.05 0.1 0.15 0.2 0.25 0.3
0.2
0.1
0
t[s]
v
q
2
[
/
s
]
0 0.05 0.1 0.15 0.2 0.25 0.3
2
0
2
t[s]
a
q
2
[
/
s
2
]
Fig. 3.26 Variaia spaiului, vitezei i acceleraiei cuplelor motoare ale robotului Recrob M=2
GDL pentru o traiectorie liniar oarecare
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
130
Spaiul de lucru i singularitile robotului Recrob
131
Capitolul. 4 Spaiul de lucru i singularitile robotului Recrob
Micarea manipulatoarelor paralele poate fi restricionat de mai muli factori conform [MER
06]: limitele mecanice din cuplele pasive, coliziunea ntre elementele robotului, limitri date de
actuatori i puncte sau zone de singularitate care pot mpri spaiul de lucru n diferite pri
componente.
Problema principal cu reprezentarea spaiului de lucru a roboilor paraleli este aceea ca
locaiile posibile ale punctului de referin al efectorului final depind de orientarea acestuia,
deci o reprezentare complet a spaiului de lucru ar trebui reprezentat intr-un spaiu cu ase
dimensiuni, lucru care nu este posibil. O reprezentare grafic complet a spaiului de lucru a
roboilor paraleli este deci posibil doar la roboti cu trei grade de libertate. Pentru roboii cu
3 n > grade de libertate, reprezentarea spaiului de lucru va fi posibil doar dac fixam 3 n
parametrii de poziie. n funcie de care parametrii sunt fixai, vom obine diferite tipuri de
spaiu de lucru.
4.1 Tipuri de spaiu de lucru
Cele mai ntlnite tipuri de spaiu de lucru, conform [MER 06] sunt:
- Spaiul de lucru cu orientare constant sau spaiul de lucru de translaie reprezint
toate locaiile posibile ale punctului caracteristic E aparinnd platformei mobile, care
pot fi atinse cu o orientare dat;
- Spaiul de lucru de orientare reprezint toate orientrile posibile care pot fi atinse n
timp ce punctul E este fixat;
- Spaiul de lucru maximal sau spaiul de lucru accesibil nglobeaz toate locaiile
punctului E care pot fi atinse cu cel puin o orientare a platformei mobile;
- Spaiul de lucru cu orientare inclusiv constituie toate coordonatele punctului E care pot
fi atinse cu cel puin o orientare dintr-un set definit al unghiurilor de orientare. Spaiul
de lucru maximal este un caz particular al spaiului de lucru abil pentru care intervalele
unghiurilor de orientare sunt cuprinse n
| |
0,2t ;
- Spaiul de lucru total de orientare reprezint mulimea tuturor orientrilor punctului E
care pot fi atinse dintr-un domeniu dat al orientrilor;
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
132
- Spaiul de lucru cu dexteritate constituie toate poziiile punctului E pentru care toate
orientrile, sunt posibile. Spaiul de lucru cu dexteritate este un caz particular al
spaiului de lucru de orientare, intervalul unghiurilor de orientare fiind
| |
0,2t ;
- Spaiu de lucru total cu orientare redus reprezint toate locaiile punctului E care pot fi
atinse cu un subset al unghiurilor de orientare care pot avea orice valoare dintr-un
anumit interval, n timp ce celelalte coordonate pot lua valori arbitrare.
Alte studii asupra spaiului de lucru al roboilor paraleli sunt fcute de [CAS 08], [DAS 05b],
[GOS 90]. Kumar introduce n [KUM 92] denumirea de spaiul de lucru controlabil cu
dexteritate care este un subspaiu al spaiului de lucru cu dexteritate care nu conine
configuraii singulare.
4.2 Metode de calcul a spaiului de lucru
4.2.1 Metoda geometric
Scopul acestei metode este de a determina geometric grania spaiului de lucru a robotului
[MER 06]. Principiul se bazeaz pe deducerea, din constrngerile fiecrui lan cinematic al
robotului, a unui obiect geometric
l
W care descrie toate locaiile posibile ale braului robotului.
Spaiul de lucru al robotului este constituit din intersecia tuturor
l
W .
n anumite cazuri, cum ar fi robotul Delta, determinarea spaiului de lucru poate fi fcut direct
ntr-un pachet software CAD din moment ce acest calcul este echivalent cu intersecia unor
volume.
Printre avantajele acestei metode se numr rapiditatea, acurateea rezultatului i
posibilitatea de calcul a spaiului de lucru. Ca si dezavantaje ale acestei metode ar fi faptul c
reprezentarea depinde de structura considerat, putnd deveni dificil a lua n considerare
toate constrngerile, iar spaiul de lucru rezultat nu se potrivete viitoarelor taskuri cum ar fi
planificarea micrii robotului.
Spaiul de lucru i singularitile robotului Recrob
133
4.2.2 Metode numerice
Majoritatea metodelor numerice de determinare a spaiului de lucru a roboilor paraleli
folosesc discretizarea parametrilor de poziie, pentru a determina frontiera spaiului de lucru
[DAS 05]. n cazul acestei metode, spaiul de lucru este acoperit cu o reea tridimensionala de
noduri. Fiecare nod este apoi testat pentru a vedea dac aparine sau nu spaiului de lucru.
Acurateea reprezentrii depinde de pasul folosit pentru a crea reeaua de puncte. Timpul de
calcul crete bineneles odat cu scderea pasului de parcurgere i odat cu creterea
spaiului de lucru.
Pentru gsirea spaiului de lucru a robotului Recrob, precum i a configuraiilor acestuia a fost
aleas o asemenea metod numeric. Dintre diferitele tipuri de spaiu de lucru, a fost ales
spaiul de lucru cu dexteritate.
Pentru determinarea spaiului de lucru cu dexteritate a fost ntocmit un pseudo-cod prezentat
n fig. 4.1.
Fig. 4.1 Pseudo-codul corespunztor spaiului de lucru al robotului Recrob
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
134
Pe baza pseudo-codului prezentat n fig. 4.1 a fost elaborat un program Matlab prin care se
va obine spaiul de lucru sub forma unui nor de puncte. La nceputul programului se dau
parametrii geometrici h, d, e, p, parametrii care sunt explicai n capitolul 2, unde s-a rezolvat
modelul geometric al robotului, precum i modalitile de reconfigurare ale acestuia. Valorile
acestora pentru care s-a fcut simularea sunt:
40[ ]; [58.0623]; 109[ ]; 100[ ] h mm d e mm p mm = = = =
(4.1)
Se citesc apoi coordonatele , , 1,2,3
i i
B B
X X i = n raport cu sistemul de coordonate fix, precum
i coordonatele capetelor platformei mobile fa de sistemul de coordonate mobil:
1 2 3
; 0; 0
A A A
x p x x = = =
(4.2)
1 2 3
0; 0;
A A A
y y y p = = =
(4.3)
i
A
z h =
(4.4)
; ;
3 3
E E E
p p
x x z h = = = (4.5)
Se introduc apoi valorile minime i maxime ale cuplelor motoare (stabilite n funcie de
geometria robotului), care se vor compara n condiie cu valorile obinute n modelul
geometric invers introdus n program. Pentru cazul general (prezentat n fig. 4.1) cnd robotul
are ase grade de mobilitate sunt folosite ase cicluri for pentru fiecare coordonat
generalizat a robotului. n cadrul acestora se ruleaz modelul geometric invers, n cadrul
condiiei se verific dac valorile obinute se ncadreaz ntre valorile minime i maxime ale
cuplelor motoare, precum i dac acestea sunt sau nu numere reale, soluiile complexe
obinute denot un punct care este n afara spaiului de lucru al robotului.
n fig. 4.2 este reprezentat spaiul de lucru cu dexteritate al robotului Recrob cnd acesta are
M=6 GDL.
Spaiul de lucru i singularitile robotului Recrob
135
Fig. 4.2. Spaiu de lucru Recrob M=6 GDL
Din 8.000.000 puncte calculate, 70.816 puncte au fost gsite n spaiul de lucru al robotului.
Incrementul cu care s-a fcut discretizarea coordonatelor generalizate ale efectorului final
este 10.
n cazul n care robotul are 5 GDL, unghiul de rotaie proprie este zero.
0 =
(4.6)
Operaiunea de ciclare corespunztoare acestui unghi (fig.4.1) este scoas din program.
Spaiul de lucru cu dexteritate pentru acest caz este prezentat n fig. 4.3.
Fig. 4.3. Spaiu de lucru cu dexteritate Recrob M=5 GDL
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
136
Datorit reducerii ciclurilor implicate, se observ o reducere a timpului de calcul. Din
3.709.888 puncte calculate, 45.255 puncte au fost gsite n spaiul de lucru al robotului.
Incrementul cu care s-a fcut discretizarea coordonatelor generalizate ale efectorului final
este 7.
Pentru determinarea spaiului de lucru cu dexteritate n cazul configuraiei robotului cu 4 GDL,
unghiurile i u , de rotaie proprie i de nutaie sunt nule.
0; 0 u = =
(4.7)
Operaiunile de ciclare corespunztoare acestor unghiuri sunt eliminate, spaiul de lucru cu
dexteritate rezultat este prezentat n fig. 4.4. Din cele 1.127.061 puncte calculate, 27.660
puncte au fost gsite care satisfac condiiile impuse pentru spaiul de lucru al robotului.
Incrementul cu care s-a fcut discretizarea coordonatelor generalizate ale efectorului final
este 5.
Fig. 4.4. Spaiu de lucru cu dexteritate Recrob M=4 GDL
n cazul configuraiei robotului Recrob cu M=3 GDL (translaie spaial), toate cele trei
unghiuri de orientare sunt nule. n acest caz, spaiul de lucru cu dexteritate este echivalent cu
Spaiul de lucru i singularitile robotului Recrob
137
spaiu de lucru cu orientare constant sau aa numitul spaiu de lucru de translaie al
robotului M=6 GDL. Spaiul de lucru corespunztor acestui caz este prezentat n fig. 4.5.
0; 0; 0 u = = =
(4.8)
Fig. 4.5. Spaiu de lucru cu dexteritate Recrob M=3 GDL translaie spaial (spaiul de
lucru de translaie, spaiul de lucru cu orientare constant)
Operaiunile de ciclare rmase corespund coordonatelor , ,
E E E
X Y Z . Timpul de calcul fiind
substanial redus s-a putut realiza o simulare cu un increment mai mic. Dintre cele 884.736
puncte calculate, 147.525 puncte au fost gsite care satisfac condiiile impuse pentru spaiul
de lucru al robotului. Incrementul cu care s-a fcut discretizarea coordonatelor generalizate
ale efectorului final este 2.
n fig. 4.6 este reprezentat spaiul de lucru al robotului n cazul n care acesta realizeaz o
micare plan la cota 100[ ]
E
Z mm = . Pentru aceast configuraie unghiurile de nutaie i de
rotaie proprie sunt nule.
100[ ]; 0; 0
E
Z mm u = = =
(4.9)
Din cele 423.936 puncte calculate, 12.350 puncte au fost gsite care satisfac condiiile
impuse pentru spaiul de lucru al robotului. Incrementul cu care s-a fcut discretizarea
coordonatelor generalizate ale efectorului final este 2.
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
138
Fig. 4.6. Spaiu de lucru cu dexteritate Recrob M=3 GDL micare plan
n ultimul caz de reconfigurare, platforma mobil a robotului realizeaz o micare de
poziionare ntr-un plan paralel cu planul XOY al robotului. Spaiul de lucru aferent acestei
configuraii este prezentat n fig. 4.7. De asemenea, realizarea acestei configurri impune ca
unghiurile de precesie, nutaie i rotaie proprie sunt nule, micare de poziionare realizndu-
se la cota 100[ ]
E
Z mm = .
100[ ]; 0; 0; 0
E
Z mm u = = = =
(4.10)
Fig. 4.7. Spaiu de lucru cu dexteritate Recrob M=2 GDL
Spaiul de lucru i singularitile robotului Recrob
139
n acest caz au fost calculate un total de 36.481 puncte dintre care 7864 au aparinut
spaiului de lucru. Incrementul folosit pentru parcurgerea ciclurilor a fost de 1.
4.3 Determinarea punctelor de singularitate
Poziiile singulare, denumite i configuraii nesigure de ctre Hunt (HUN 78) sunt poziii
particulare ale efectorului final, n care acesta i pierde rigiditatea i in care platfoma mobil
va avea un numr necontrolabil de grade de libertate [MER 06].
Un robot se gsete ntr-o configuraie singular cnd cele dou matrice Jacobi folosite
pentru calculul cinematic i pierd rangul.
Se disting astfel 3 tipuri diferite de singulariti cinematice:
- Singulariti de tipul I (numite i singulariti seriale [Mer 06]) se ntlnesc atunci cnd
matricea Jacobi B este singular, caz n care robotul se blocheaz
- Singulariti de tipul II se ntlnesc atunci cnd matricea Jacobi A este singular, caz n
care dei motoarele sunt blocate, robotul ctig grade de mobilitate.
- Singulariti de tipul III, numite i singulariti arhitecturale se ntlnesc atunci cnd
amndou matricele Jacobi sunt singulare
4.3.1 Singulariti de tipul I
Sistemul de funcii implicite al robotului, dedus n capitolul 3 al acestei teze este:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
140
1 1 1
1 1 1
1 1
2 2
1
2
1 1
2 2
1 1 1
2
[ ( )( ) ( )( ) ( )( )
] [ ( )( ) ( )( )
( )( ) ] 0
[ ( )( ) ( )(
E A E A E A E
B E A E A E
A E B
E A E A E
F X x x c c c s s y y c c s s c z z c s
X d cq Y x x s c c c s y y s c s c c
z z s s Y d sq e
F X x x c c c s s y y c
u u u
u u
u
u
+ + +
+ + + + + +
=
+ +
2
2 2 2
2 2
3 3 3
3
2
2 2
2 2
2 2 2
3
2
3 3
) ( )( )
] [ ( )( ) ( )( )
( )( ) ] 0
[ ( )( ) ( )( ) ( )( )
] [
A E
B E A E A E
A E B
E A E A E A E
B
c s s c z z c s
X d cq Y x x s c c c s y y s c s c c
z z s s Y d sq e
F X x x c c c s s y y c c s s c z z c s
X d cq
u u
u u
u
u u u
+
+ + + + + +
=
+ + +
+
( )( )
( )
( ) ( )
3 3
3 3
1
3
2 2
3 3 3
4 4
5 5
6 6
( )( ) ( )( )
( )( ) ] 0
0
0
0
E A E A E
A E B
E A E E E
E E E E
E E A E E
Y x x s c c c s y y s c s c c
z z s s Y d sq e
F Z x x s c y s s z c q
F Z x s c y s s z c q
F Z x s c y y s s z c q
u u
u
u u u
u u u
u u u
+ + + + +
+ =
+ =
(4.11)
De asemenea amintit n capitolul 3, dup nlocuirea derivatelor pariale, determinantul
matricei Jacobi B va lua forma unei matrice diagonal:
1
1
2
2
3
3
0 0 0 0 0
0 0 0 0 0
0
0 0 0 0 0
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
F
q
F
q
F
q
c
c
c
c
= c
c
(4.12)
Ecuaia (4.12) este echivalent cu:
3
1
0, 1,3
i
i
i
F
i
q
=
c
= =
c
[
(4.13)
Primele trei ecuaii ale sistemului implicit de funcii al sistemului pot fi scrise sub forma
simplificat astfel:
2 2 2
( ) ( ) 0, 1,3
i i i i
i A D A D i
F X X Y Y e i + = =
(4.14)
Unde coordonatele punctelor D
i
au expresiile:
Spaiul de lucru i singularitile robotului Recrob
141
1,3
i i
i i
D B i i
D B i i
X X d cq
Y Y d cq
i
= +
= +
=
(4.15)
nlocuind coordonatele punctelor D
i
, sistemul (4.14) devine:
2 2 2
( ) ( ) 0, 1,3
i i i i
i A B i i A B i i i
F X X d cq Y Y d sq e i + = =
(4.16)
Prin derivarea funciilor , 1,3
i
F i = n raport cu coordonatele , 1,3
i
q i = se ajunge la:
2( ) 2( ) 0, 1,3
i i i i
i
A B i i i i A B i i i i
i
F
X X d cq d sq Y Y d sq d cq i
q
c
= =
c
(4.17)
Expresia (4.17) este echivalent cu:
2 ( ) 2( ) 0, 1,3
i i i i
i A B i i i A B i i i
d X X d cq sq Y Y d sq cq i = =
(4.18)
Prin mprirea relaiei (4.18) cu 2
i i
d cq se ajunge la:
( ) tan ( ) 0, 1,3
i i i i
A B i A B
X X q Y Y i = = =
(4.19)
Sau:
( )
tan , 1,3
( )
i i
i i
A B
i
A B
Y Y
q i
X X
= =
(4.19)
O reprezentare grafic a acestui tip de singularitate este realizat n fig. 4.8, unde a fost ns
reprezentat un singur lan cinematic, cele trei lanuri cinematice ale robotului fiind identice.
a) b)
Fig. 4.8. Recrob singularitate tip I
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
142
Acest tip de singularitate trebuie evitat, deci se va evita din faza de control a robotului. Astfel
cazul de singularitate prezentat mparte modelul matematic n doua pri. Prima presupune
msurarea coodonatelor motoare , 1,3
i
q i = n sens trigonometric, iar cealalt n sens invers
trigonometric. Interpretarea grafic a relaiei (4.19) obinute, aa cum se vede din fig. 4.8 b) ar
fi aceea c acest tip de singularitate este ntlnit n cazul n care unghiul , 1,3
i
i u = este egal
cu pi (altfel spus atunci cnd braele B
i
D
i
sunt coliniar cu braele D
i
A
i
).
, 1,3
i
i u t = = (4.20)
Pentru gsirea efectiv a poziiilor pentru care avem acest tip de singularitate s-a elaborat un
program Matlab, al crui pseudo-cod este prezentat n fig. 4.9
Fig. 4.9. Recrob singularitate tip I
Spaiul de lucru i singularitile robotului Recrob
143
Gsirea singularitilor de tipul I s-a efectuat considernd orientarea constant a platformei
mobile. Unghiurile de orientare , , u au fost impuse ca fiind constante.
5 , 10 , 4 u = = =
(4.21)
n pseudo-codul din fig. 4.9, dup gsirea punctelor din spaiul de lucru se pune condiia 4.19,
punctele pentru care aceast condiie este ndeplinit sunt afiate cu rou n fig. 4.10. De
menionat faptul c algoritmul a fost rulat pentru 1.771.561 puncte, dintre care 194.733
puncte aparin spaiului de lucru, dintre acestea din urm 7326 sunt puncte de singularitate de
ordinul I, aprute aa cum se vede din figur la frontiera spaiului de lucru a robotului.
Fig. 4.10. Recrob spaiu de lucru i singulariti de ordinul I
4.3.2 Singulariti de tipul II
Singularitile de tipul II apar n cazul n care determinatul matricei Jacobi A este nul. Gsirea
acestor singulariti impune aadar aflarea rdcinilor determinantului matricei A. Acest lucru
este aproape imposibil de realizat pe cale analitic, datorit neliniaritii expresiilor care apar
n matricea Jacobi A. Determinarea singularitilor pentru acest caz, este fcut pe o cale
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
144
numeric. Pentru reducerea volumului calculului aferent, modul n care este descompus
determinantul matricei Jacobi A este explicat n continuare.
Lund n considerare derivatele pariale, componente ale matricei Jacobi A calculate n
capitolul 3 al acestei teze, determinantul det(A) ia forma:
1 1 1 1 1
2 2 2 2 2
3 3 3 3 3
4 4
5 5
6 6
0
0
0
det( )
0 0 1 0
0 0 1 0
0 0 1 0
E E
E E
E E
F F F F F
X Y
F F F F F
X Y
F F F F F
X Y
A
F F
F F
F F
u
u
u
u
u
u
c c c c c
c c c c c
c c c c c
c c c c c
c c c c c
c c c c c
=
c c
c c
c c
c c
c c
c c
(4.22)
Datorit zerourilor i elementele 1 care apar n determinant acesta se poate reduce la o form
mai simpl, prin operaii elementare. Dac scdem ultima linie a determinantului din liniile 4 i
5 rezult:
1 1 1 1 1
2 2 2 2 2
3 3 3 3 3
6 6 4 4
5 6 5 6
6 6
0
0
0
det( )
0 0 0 0
0 0 0 0
0 0 1 0
E E
E E
E E
F F F F F
X Y
F F F F F
X Y
F F F F F
X Y
A
F F F F
F F F F
F F
u
u
u
u u
u u
u
c c c c c
c c c c c
c c c c c
c c c c c
c c c c c
c c c c c
=
c c c c
c c c c
c c c c
c c c c
c c
c c
(4.23)
Spaiul de lucru i singularitile robotului Recrob
145
Dac dezvolt determinantul dup coloana a treia, se ajunge la un determinant de ordinul 5
care are forma:
1 1 1 1 1
2 2 2 2 2
3 3 3 3 3
6 6 4 4
5 6 5 6
det( )
0 0 0
0 0 0
E E
E E
E E
F F F F F
X Y
F F F F F
X Y
F F F F F
A
X Y
F F F F
F F F F
u
u
u
u u
u u
c c c c c
c c c c c
c c c c c
c c c c c
c c c c c
=
c c c c c
c c c c
c c c c
c c c c
c c c c
(4.23)
Dac se dezvolt n continuare determinatul dup ultima linie expresia (4.23) devine:
1 1 1 1
2 2 2 2
5 6
3 3 3 3
6 4
1 1 1 1
2 2 2 2
5 6
3 3 3 3
6 4
det( )
0 0 0
0 0 0
E E
E E
E E
E E
E E
E E
F F F F
X Y
F F F F
X Y
F F
A
F F F F
X Y
F F
F F F F
X Y
F F F F
F F X Y
F F F F
X Y
F F
u u
u
u
u
u
c c c c
c c c c
c c c c
c c c c
c c | |
=
|
c c c c c c
\ .
c c c c
c c
c c
c c c c
c c c c
c c c c
c c c c c c | |
|
c c
c c c c
\ .
c c c c
c c
c u c
(4.24)
n relaia (4.24), determinaii de ordinul 4 pot fi redui la ordinul 3 dac i dezvoltm dup
ultima linie. Dup ce se d factor comun determinatul de ordinul 3 rezultat, se obine:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
146
1 1 1
5 6 6 5 6 6 2 2 2 4 4
3 3 3
det( )
E E
E E
E E
F F F
X Y
F F F F F F F F F F F
A
X Y
F F F
X Y
u u u u
c c c
c c c
( c c c c c c | | | | c c c c c | | | |
=
( | | | |
c c c c c c c c c c c
\ . \ . \ . \ .
c c c
c c c
(4.25)
n continuare, pentru determinarea rdcinilor determinantului matricei A, facem notaiile:
1 1 1
2 2 2
3 3 3
E E
E E
E E
F F F
X Y
F F F
M
X Y
F F F
X Y
c c c
c c c
c c c
=
c c c
c c c
c c c
(4.26)
5 6 6 5 6 6 4 4
F F F F F F F F
N
u u u u
c c c c c c | | | | c c | | | |
=
| | | |
c c c c c c c c
\ . \ . \ . \ .
(4.27)
Se disting astfel dou cazuri, primul cnd 0 N = i al doilea cnd 0 M =
Caz 1
5 6 6 5 6 6 4 4
0
F F F F F F F F
u u u u
c c c c c c | | | | c c | | | |
=
| | | |
c c c c c c c c
\ . \ . \ . \ .
(4.28)
Folosind derivatele pariale calculate n capitol privind cinematica robotului Recrob, ecuaia
(4.28) ia forma:
( ) ( ) 0 pc s ps s ps c ps c pc c pc s u u u u u u + =
(4.29)
Dup reducerea termenilor asemenea n relaia (4.29) se ajunge la :
2 2 2
( ) 0 c s p s c u u + = (4.30)
Ecuaia final este:
2
0 p c s u u = (4.31)
S-a reuit deci s se obin o rezolvare analitic, cel puin a unei pri a determinantului
matricei Jacobi A. Soluiile ecuaiei trigonometrice (4.31) sunt foarte uor de gsit, avnd n
vedere c p este constant:
Spaiul de lucru i singularitile robotului Recrob
147
0, ,
2
t
u t = (4.32)
Caz 2
n cazul 2 ns, nu s-a putut gsi o rezolvare analitic, datorit neliniaritii i complexitii
mari a ecuaiilor rmase. Pentru gsirea soluiilor determinantului (4.33) s-a realizat un
program matlab pentru calculul eventualelor soluii ale ecuaiei (4.33). Algoritmul pentru
calculul singularitilor este prezentat n pseudo-codul din fig. 4.11.
1 1 1
2 2 2
3 3 3
0
E E
E E
E E
F F F
X Y
F F F
X Y
F F F
X Y
c c c
c c c
c c c
=
c c c
c c c
c c c
(4.33)
Fig. 4.11. Recrob singularitate tip II
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
148
n program a fost fixat un increment egal cu 2. Trebuie menionat faptul c algoritmul a fost
rulat pentru 1.771.561 puncte, dintre care 194.733 puncte aparin spaiului de lucru. Nu s-a
gsit deci nici un alt punct de singularitate afar de cele menionate mai sus.
4.3.3 Singulariti de tipul III
Singularitile de tipul III se ntlnesc atunci cnd celor dou matrice Jacobi le scade rangul
rangul. Acest lucru se ntmpl cnd este ndeplinit ecuaia (4.34)
det( ) 0; det( ) 0 A B = =
(4.34)
Condiia (4.34)nu este ndeplinit niciodat datorit faptului c determinatul matricei B nu este
nul, pentru niciuna dintre valorile lui 0, ,
2
t
u t = .
Proiectarea constructiv a robotului Recrob cu M=6 GDL
149
Capitolul. 5 Proiectarea constructiv a robotului Recrob cu M=6 GDL
n acest capitol vor fi prezentate elemente de proiectare constructiv a robotului paralel
Recrob cu ase grade de libertate. Realizarea grafic virtual a robotului permite vizualizarea
i simularea interactiv a robotului. Pe baza acestui model virtual este testat funcionalitatea
robotului i sunt rezolvate eventuale erori constructive care nu au putut fi detectate pn n
aceast faz.
5.1 Realizarea machetei robotului Recrob
Pornind de la modelul virtual i schema cinematic a robotului, s-a realizat o machet care s
urmreasc profilul funcional al robotului (fig. 5.1). Macheta a fost realizat n cadrul centrului
de cercetare CESTER din materiale plastice i PAL. Maina de gravat, tiat cu laser pe care
au fost tiate barele machetei se numete LaserPro Mercury.
Fig. 5.1 Machet robot Recrob M=6 GDl
n construcia celor dou variante constructive s-au introdus ct mai multe elemente
standardizate, uor de nlocuit, soluii integrate care asigur robotului Recrob o construcie
modular. n ceea ce privete acionarea, aceasta a fost realizat prin intermediul motoarelor
electrice, n amndou variantele constructive prezentate. Diferena esenial ntre cele dou
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
150
variante constructive se refer la cele trei cuple de translaie (q
4
, q
5
i q
6
) care pot fi acionate
de motoare de rotaie care, prin intermediul unei cuple urub-piuli transform micarea de
rotaie n micare de translaie sau prin motoare electrice liniare (cum ar fi cele piezo-
electrice) pentru o precizie mai bun de poziionare, dar o curs mai mic pe axa Z a
robotului, soluia constructiv fiind desigur aleas n funcie de tipul aplicaiei pentru care se
va folosi robotul.
Trebuie menionat aici faptul c construcia modular a robotului permite nlocuirea
elementelor standardizate funcie de tipul aplicaiei, de exemplu ghidajele, arborii canelai,
motoarele pot diferi fa de soluiile propuse n acest capitol.
5.2 Variante constructive
Varianta constructiva I
Prima variant constructiv este prezentat n fig. 5.2, unde se pot vedea elementele
constructive componente ale robotului, precum i dimensiunile de gabarit n milimetri ale
primei soluii alese.
Fig. 5.2 Recrob M=6 GDL soluie constructiv I
Proiectarea constructiv a robotului Recrob cu M=6 GDL
151
n aceast variant constructiv, realizat cu ajutorul pachetului software de modelare 3D
Solid Works 2007, cele ase motoare de acionare sunt aezate pe platforma superioar fix
a robotului. Aa cum se vede din figur, robotul are trei lanuri cinematice identice. Fiecare
lan are dou motoare de rotaie, care transmit micarea platformei mobile printr-o cupl de
roto-translaie.
Pentru realizarea micrii de translaie s-a ales un modul de translaie produs de firma THK
Japonia [THK 11], o soluie cu un design simplu, compact i cu un cost redus. Sistemul
integrat prezentat n fig. 5.3 are lungimi diferite ale axului, diferite puteri, este uor de
controlat.
Fig. 5.3 Actuator VLA-ST [THK 11]
Pentru construcia robotului din fig. 5.2 s-a folosit un actuator liniar de tipul VLA-45-06-0400-
D-310-I-R-N, cu urmtoarele caracteristici: cursa motorului este de 400 [mm], diametrul
exterior ar arborelui cu bile este de 6 [mm], motorul de curent continuu folosit este de 30W,
100V, fr frn.
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
152
Pentru micarea de rotaie a arborilor canelai s-au ales motoarele pas cu pas de tipul Nema
17 [OSM 11]. Motorul ales din catalog are codul 17 HM 19-0404S i dezvolt un cuplu maxim
de 0.62 [Nm]; a se vedea fig. 5.4.
Fig. 5.4 Motor pas cu pas Nema 17 [OSM 11]
Motorul pas cu pas prezentat n figura 5.4 are urmtoarele specificaii tehnice:
Dimensiuni de gabarit: 42x42x60 [mm]
Cuplul motor maxim: 0.62 [Nm]
Curentul pe faz: 1.2 [A]
Rezistena pe faz: []
Inductana pe faz: 8.8[mH]
Ineria motorului: 95[g.cm
2
]
Greutatea: 0.38 [Kg]
Motor bipolar
Pas unghiular: 0.9[
0
]
Cele trei motoare pas cu pas, corespunznd cuplelor motoare q
1
,q
2
, respectiv q
3
sunt legate
de arborii canelai respectivi cu ajutorul unor cuplaje elastice (fig. 5.5 a).
Pentru eliminarea jocurilor radiale, axiale i unghiulare ntre arborii motoarelor pas cu pas i
arborii canelai folosii pentru transmiterea micrii au fost folosite cuplaje elastice cu burduf
de tipul KB 2/5 28-5-5 realizate de firma Power Belt [POW 11] .
Proiectarea constructiv a robotului Recrob cu M=6 GDL
153
De asemenea, pentru eliminarea jocurilor la mbinarea arborilor canelai cu platforma fix a
robotului se folosesc doi rulmeni radiali axiali cu role conice produse de firma SKF (fig. 5.5
b).
Fig. 5.5 a Cuplaj elastic cu burduf [POW 11]
Fig. 5.5 b Rulment radial axial cu role conice
[SKF 11]
Variant constructiv II
Pentru o precizie de poziionare mai bun (sub 1 micrometru), se pot alege pentru realizarea
micrilor de translaie motoare liniare piezo-electrice, lucru care reduce i dimensiunile de
gabarit ale robotului (fig. 5.6). Pentru o rezoluie echivalent att pentru micarea de rotaie
ct i pentru cea de translaie s-a ales acest tip de motoare liniare. Pentru a avea o rezoluie
identic att pentru cuplele motoare de translaie ct i pentru cele motoare de rotaie, s-a
ales pentru cuplele q1, q2 i q3 tot motoare piezoelectrice de putere mai mic de aceast
dat pentru ca elementul de circular de transmitere a micrii este situat pe orizontal. Pe
acest element circular montat mpreun cu un rulment pe arborele canelat respectiv, se
lipete inelul de band ceramic (produs tot de firma Nanomotion [NAN 11]), care imprim
arborelui canelat o micare de rotaie datorat forei de frecare produs de elementele de
acionare ale motorului piezoelectric.
Pentru montarea motoarelor piezoelectrice de pe platforma superioar a robotului Recrob
M=6 GDL, s-a optat pentru un montaj axial (fig. 5.9), n care elementele de acionare ale
robotului sunt perpendiculare suprafaa plan a benzii ceramice. Montajul radial este mai
pretenios n ceea ce privete abaterile de la concentricitate aprute ntre arborele canelat i
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
154
discul montat pe acesta. De asemenea n cazul montajul radial elementele de acionare ale
motoarelor nu acioneaz pe o suprafa plan, ci pe una cilindric, lucru care va conduce la
o uzur mai rapid a elementelor de acionare.
Fig. 5.6 Recrob M=6 GDL soluie constructiv II
La alegerea motoarelor piezo-electrice (fabricate de Nanomotion), montate n poziie vertical
n fig. 5.6, s-a avut n vedere formula (5.1), [NAN 11]:
m b
F ma mg f
(5.1)
Unde:
F
m
este fora motoare necesar
f
b
este fora de frecare
a este acceleraia
Proiectarea constructiv a robotului Recrob cu M=6 GDL
155
Motoarele piezo-electrice sunt fixate, ele antreneaz o band ceramic lipit sania mobil a
unui ghidaj liniar, conform schemei de montaj din fig. 5.7.
Fig. 5.7 montaj motoare piezo-electrice pentru micarea de translaie
O caracteristic negativ, specific montajului acestor motoare pe vertical este acela c
forele necesare deplasrii n sensul forei gravitaionale sunt mai mici n comparaie cu cele
necesare deplasrii n sens contrar forei gravitaionale, ceea ce complic partea de control a
robotului unde se va avea n vedere modificarea parametrilor pentru deplasarea pe fiecare
direcie.
Un avantaj esenial al motoarelor piezoelectrice l reprezint autoblocarea n stare de repaus,
poziia fiind pstrat fr nici un consum de energie.
Avnd n vedere montajul vertical i forele din cuplele motoare s-a ales un motor de tip HR8
(fig.5.7), cu opt elemente de acionare, cu urmtoarele caracteristici:
viteza maxim: 250[mm/s]
fora motoare dezvoltat: 30-36 [N]
fora de frecare static: 28[N]
Consum maxim de energie: 40[W]
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
156
precizie de poziionare: <1[ ] m
lungime: 41.9[mm]
lime: 46.6[mm]
nlime:23.8[mm]
greutate: 120[g]
Banda ceramic acionat de motorul piezoelectric, realizat tot de firma Nanomotion poate
lua diferite forme i dimensiuni pn la 350[mm] pentru tipul de motor HR8.
n ceea ce privete ghidajul liniar, acesta trebuie s fie uor: prile componente sunt fcute
din aluminiu cu excepia inelor i a bilelor pe care se realizeaz micarea. Pentru robotul
Recrob a fost ales un ghidaj liniar produs de firma THK (fig. 5.8).
Fig. 5.8 Ghidaj liniar cu bile THK [THK 11]
Conform catalogului a fost ales un ghidaj VRU 3205, cu o construcie mai uoar, avnd
dimensiunile de gabarit 60x28x205 i o lungime a cursei de 130 [mm].
Motoarele piezoelectrice de tipul HR4 alese pentru micarea de rotaie a arborilor canelai
(fig. 5.9) au urmtoarele caracteristici:
viteza maxim: 250 [mm]
Fora motoare dezvoltat: 15-18 [N]
Proiectarea constructiv a robotului Recrob cu M=6 GDL
157
Fora de frecare static: 14[N]
Rezoluie: <1[ ] m
Durat de via: 20000 ore n regim de lucru normal
Putere maxim: 15[W]
Lungime: 42 [mm]
Lime: 46.6 [mm]
nlime: 15[mm]
Greutate: 73 [g]
Fig. 5.9 montaj motoare piezo-electrice pentru micarea de rotaie
Un detaliu cu cele dou motoare piezoelectrice alese n cadrul celei de-a doua variante
constructive este prezentat n fig. 5.10, unde n fig. 5.10 a) este prezentat motorul HR8 folosit
pentru micare de translaie, iar n fig. 5.10 b) este prezentat motorul HR4 folosit pentru
micarea de rotaie. Dei motorul HR4 este suficient pentru realizarea micrii de rotaie a
arborelui canelat, pentru un echilibru dinamic mai bun s-ar fi putut fi folosit dou motoare
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
158
piezoelectrice HR2 dispuse diametral opuse fa de discul circular care are inelul ceramic
care este acionat de elementele de acionare ale motorului piezoelectric.
a) motor HR8 b) motor HR4
Fig. 5.10 motoare piezoelectrice [NAN 11]
Dac pn acum au fost prezentate elementele constructive care difereniaz cele dou
variante constructive, n continuare se vor prezenta elementele constructive comune avnd n
vedere c dincolo de cuplele de translaie i cele de rotaie micarea se transmite efectorului
final n mod identic. Att pentru transmiterea micrii de rotaie, ct i a celei de translaie se
folosete o cupl de rototranslaie cu arbore canelat produs de firm THK [THK 11].
Datorit construciei unitare a acestei cuple, numrul componentelor robotului este redus, de
asemenea se reduce valoarea erorii cumulative de instalare. Din catalog a fost ales o cupl
de tipul LTR-A cu un arbore canelat cu 3 flancuri i 6 canale pe care circul bilele din piulia
aferent.
Proiectarea constructiv a robotului Recrob cu M=6 GDL
159
Fig. 5.11 cupl rototranslaie THK [THK 11]
Pentru robotul Recrob, M=6 GDL s-a ales un arbore canelat plin de lungime 400 [mm] i un
diametru exterior de 10[mm]. Arborele canelat se calculeaz funcie de tipul de solicitare la
care este supus. Arborii canelai din figura 5.6 sunt supui n principal la momente de
torsiune, diametrul lor calculndu-se cu formula 5.2 [THK 11]:
a p
T Z
(5.2)
Unde:
T este momentul de torsiune maxim
a
este momentul de torsiune admisibil al arborelui canelat (49[N/mm
2
])
p
Z este modul de elasticitate polar al seciunii arborelui canelat:
3
16
d
Zp
Folosind formula (5.2), [THK 11] vom avea:
3
18 25 49
16
d
(5.3)
Unde d este diametrul arborelui canelat, 18 este fora maxim a motoarelor HR4, iar 25 este
braul forei, motoarele de pe placa superioar fiind aezate excentric fa de axele arborilor
canelai.
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
160
Din ecuaia (5.3) are rezulta un diametru d=3.6 [mm], dar datorit lungimii de 400 [mm] ct se
dorete arborele s-a ales un arborele canelat cu diametrul de 10 [mm].
a) b)
Fig. 5.12 elemente legtur cupl rototranslaie
Flana exterioar a cuplei de rototranslaie este legat de braul orizontal din fig. 5.12 a),
mpreun cu aceasta realizeaz micarea de translaie. Flana interioar a cuplei de
rototranslaie este legat de un doilea bra orizontal, fig. 5.12 b) care mpreun cu aceasta
realizeaz micarea de rotaie dat de motoarele de pe placa superioar i de arborii canelai
respectivi.
Prin intermediul cuplelor de rotaie pasive, micarea se transmite mai departe de la braul
orizontal din fig. 5.12 b) la braul orizontal din fig. 5.13, unde se vor asambla prin intermediul
unui filet cuplele sferice care leag platforma mobil de restul robotului.
Fig. 5.13 bra orizontal 3
Proiectarea constructiv a robotului Recrob cu M=6 GDL
161
Datorit construciei robotului s-au folosit dou tipuri de cuple sferice: cu cele dou axe
coaxiale de tipul AGRM [IGU 11] sau perpendiculare WGRM [IGU 11].
Fig. 5.14 cuple sferice [IGU 11]
Cuplele sferice folosite au un coeficient de frecare foarte mic, datorit coliviei din material
polimeric antifriciune de la nivelul suprafeelor de contact ale elementelor cuplei.
Platforma mobil, care leag cele trei lanuri cinematice ale robotului este prezentat n fig.
5.15. Vrfurile braelor platformei mobile au o gaur filetat M5 pentru prinderea cuplelor
sferice a cror centre formeaz un triunghi dreptunghic isoscel.
Pentru o construcie ct mai uoar a robotului, toate elementele acestui, cu excepia
elementelor de fixare i a elementelor standardizate pot fi realizate din aluminiu.
Fig. 5.15 platforma mobil
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
162
n ceea ce privete encoderele celei de-a doua variante s-au ales encodere optice fr
contact produse de firma Renishaw [REN 11], avnd o precizie de 1 micrometru i o rezoluie
de sub 1 micrometru. Viteza la care pot msura aceste encodere ajunge pn la 12.5m/s i
au o foarte bun rezisten la praf, mizerie i zgrieturi. Ceste encodere optice pot fi folosite
att pentru aplicaii liniare ct i pentru aplicaii liniare.
a) encoder liniar b) encoder inelar
Fig. 5.16 Encodere [REN 11]
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
163
Capitolul 6. Modelul dinamic al robotului paralel reconfigurabil cu M=6
grade de mobilitate
6.1 Metode de rezolvare a modelului dinamic
Studiul dinamic al roboilor se realizeaz n special pentru aplicaii n cadrul crora se
manipuleaz greuti mari la viteze i acceleraii ridicate, specifice roboilor paraleli. Analiza
dinamic a roboilor care au un grad ridicat de grade de libertate (cinci sau ase) necesit un
timp de lucru destul de mare, datorit ecuaiilor complexe.
Pentru rezolvarea modelului dinamic al unui robot exist n literatur patru metode de calcul
al modelului dinamic al unui robot:
- Formularea Newton-Euler;
- Ecuaiile Lagrange de tipul I, cu multiplicatori;
- Ecuaiile Lagrange de tipul II cu numr minim de coordonate;
- Principiul deplasrilor virtuale.
Formularea Newton-Euler pentru calcul forelor din cuplele motoare, n cazul modelului
cinematic invers, a fost folosit n lucrri ca [DAS 98], care studiaz modelul dinamic al unei
Platforme Stewart, sau [DO 86].
Ecuaiile lui Lagrange de spea I i II, dei anevoioase din pricina calculelor anevoioase se
pot utiliza n calculul dinamic al roboilor paraleli [ABD 09].
Principiul Lucrului Mecanic Virtual, folosit i n aceast tez pentru calculul forelor i
momentelor din cuplele motoare este folosit n lucrri ca: [TSA 00]
6.2 Ipoteze simplificatoare
Principiul maselor concentrate
Masele elementelor mobile ale robotului se concentreaz n aa numite puncte de mas, fiind
astfel uor de introdus n ecuaiile modelului dinamic [DIZ 66]. Se consider c n aceste
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
164
puncte de mas se concentreaz ntreaga mas n micare a robotului. Astfel, s-a folosit
distribuia maselor n trei puncte: cele dou capete i centrul de greutate al corpului respectiv
(a se vedea fig. 6.1 [VAI 08]).
1
6
m
2
3
m
1
6
m
l
2
l
2
A C B
Fig. 6.1 Concentrarea maselor unei bare omogene [VAI 08]
O alt ipotez simplificatoare este aceea c toate braele n micare din care este construit
robotul sunt considerate ca fiind bare omogene ([MIL 92], [RIP 73] i [SEY 72]), centrul de
greutate al acestora fiind situat n mijlocul fiecrei bare, masele concentrate fiind egale cu:
1
6
A
m m =
1
6
B
m m =
2
3
c
m m = (6.1)
Eliminarea forelor de frecare
Ultima ipotez simplificatoare considerat n cazul modelului dinamic al robotului, care are ca
unic scop mbuntirea timpului de calcul prin simplificarea ecuaiilor.
6.3 Modelul dinamic invers al robotului Recrob pentru M=6 GDL
Se va prezenta n continuare modelul dinamic invers pentru configuraia cu 6 GDL. Pentru
robotul paralel reconfigurabil s-au ales un numr de 23 de mase concentrate, prezentate
schematic n fig. 6.2, care mpreun cu coordonatele lor, vor fi explicate mai jos.
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
165
Fig. 6.2 Distribuia maselor n cazul robotului Recrob M=6 GDL
n cazul mecanismului paralel cu ase grade de mobilitate, prezentat n fig. 6.2 , coordonatele
punctelor
i
M i a maselor concentrate
*
i
m ( 1,2, ... 23 i = ) vor fi determinate n continuare.
Masele concentrate n punctele
1 2 3
, , M M M vor fi:
* * *
1 1 2 2 3 3
, , m m m m m m = = = (6.2)
Razele de giraie corespunztoare se determin cu relaiile:
3 1 2
1 2 3
1 2 3
, ,
I I I
i i i
m m m
A A A
A A A
= = = (6.3)
n relaia (6.4),
1 2 3
, , I I I
A A A
sunt momentele de inerie mecanice ale corpurilor 1, 2 i 3 n raport
cu axele
' ' ' ' ' '
1 1 2 2 3 3
, , B Z B Z B Z .
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
166
Coordonatele maselor concentrate
* * *
1 2 3
, , m m m dinamic echivalente cu corpurile 1, 2 i 3 de
mase
1 2 3
, , m m m vor fi:
1 1
2 2
3 3
1 1 1 1 1
2 2 2 2 2
3 3 3 3 3
c , s ,
2
c , s ,
2
c , s ,
2
l
X i q Y i q Z
l
X i q Y i q Z
l
X i q Y i q Z
A A
A A
A A
= = =
= = =
= = =
(6.4)
Relaiile (6.2), (6.3) i (6.4) pot fi scrise concentrat sub forma:
*
1
c , s ,
2
i
i
i i
i i
i i i i i
m m
I
i
m
l
X i q Y i q Z
A
A
A A
= = =
1,2,3 i = (6.5)
Unde l este nlimea robotului.
Masele concentrate n punctele
1 2 3
, , B B B ale elementelor de acionare aflate n micare de
translaie de-a lungul axelor
' ' ' ' ' '
1 1 2 2 3 3
, , B Z B Z B Z de mase
4 5 6
, , m m m vor fi:
1 2 3
' ' '
4 5 6
, ,
B B B
m m m m m m = = =
(6.6)
Barele omogene
1 1 2 2 3 3
, , , BD B D B D de mase
7 8 9
, , m m m cu centrele de greutate respectiv n
punctele
7 8 9
, , C C C de lungimi
1 2 3
, , d d d vor fi nlocuite fiecare cu trei mase concentrate
respectiv n punctele
1 1 7 2 2 8 3 3 9
, , ; , , ; , , A B C A B C A B C [DIZ 66].
1 1 7
2 2 8
3 3 9
7
7
8
8
9
9
2
,
6 3
2
,
6 3
2
,
6 3
B D C
B D C
B D C
m
m m m m
m
m m m m
m
m m m m
= = =
= = =
= = =
(6.7)
Masele concentrate
* * *
4 5 6
, , m m m n punctele
1 2 3
, , B B B rezult din relaiile (6.6) i (6.7):
1 1 2 2 3 3
* ' * ' * '
4 5 6
, ,
B B B B B B
m m m m m m m m m = + = + = +
(6.8)
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
167
Coordonatele celor trei mase concentrate din punctele
4 1 5 2 6 3
, , M B M B M B vor fi:
1
3
4 4 4 4
5 5 5 5
'
6 6 6 6
, 0,
0, 0,
0, ,
B
B
X X Y Z q
X Y Z q
X Y Y Z q
= = =
= = =
= = =
(6.9)
Masele concentrate
* * *
7 8 9
, , m m m cu centrele de greutate
7 8 9
, , C C C ale barelor
1 1 2 2 3 3
, , , BD B D B D
de lungimi
1 2 3
, , d d d se determin cu relaiile:
* * *
7 7 8 8 9 9
2 2 2
, ,
3 3 3
m m m m m m = = = (6.10)
Coordonatele punctelor
7 8 9
, , C C C vor fi:
1
'
3
1 1
7 1 7 1 7 4
8 2
8 2 8 2 8 5
3
9 3 9 3 9 6
c , s ,
2 2
c , s ,
2 2
c , s ,
2
B
B
d d
X X q Y q Z q
d d
X q Y q Z q
d
X q Y Y q Z q
= + = =
= = =
= = + =
(6.11)
Masele barelor omogene
1 1 2 2 3 3
, , D A D A D A de mase
10 11 12
, , m m m cu centrele de greutate
respectiv n punctele C
10
, C
11
, C
12
de lungimi
1 2 3
, , e e e vor fi nlocuite fiecare cu tei mase
concentrate n punctele
1 10 1 2 11 2 3 12 3
, , ; , , ; , , D C A D C A D C A .
1 1 10
2 2 11
3 3 12
10
10
11
11
12
12
2
,
6 3
2
,
6 3
2
,
6 3
D A C
D A C
D A C
m
m m m m
m
m m m m
m
m m m m
= = =
= = =
= = =
(6.12)
Coordonatele punctelor
i
A , 1,2,3 i = , calculate i n capitolul 2 al tezei n cadrul modelului
geometric al robotului Recrob, rezult din relaia:
i i
i i
i i
A E A E
A E A E
A E A E
X X x x
c c c s s c c c s c c s
Y Y cs c c c s s c s c c s s y y
s c s s c
Z Z z z
u u u
u u u
u u u
( (
(
( (
(
= + +
( (
(
( (
(
( (
1,2,3 i = (6.13)
Din ecuaia (6.13) rezult c:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
168
i i
i i
i i
A A E
E
A E A E
E
A A E
X x x
X c c c s s c c c s c c s
Y Y cs c c c s s c s c c s s y y
Z s c s s c
Z z z
u u u
u u u
u u u
( ( (
(
( (
(
(
= + + +
( (
(
(
( (
(
(
( (
1,2,3 i = (6.14)
Fig. 6.3 Distribuia maselor pentru platforma mobil a robotului
Pentru a simplifica modelul dinamic, efectorul final al robotului Recrob, iniial conceput sub
form triunghiular, este acum format din trei bare omogene care se ntlnesc n centrul de
greutate al triunghiului (fig. 6.3).
n cazul din fig. 6.3 avem:
, ,
3 3
E E E
p p
x y z h = = = (6.15)
unde p este latura mic a triunghiului efectorului final.
Masele concentrate
* * *
10 11 12
, , m m m din punctele
10 1 11 2 12 3
, , M D M D M D se vor determina
cu relaiile:
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
169
1 1
2 2
3 3
* ' 10 7
10
* ' 8 11
11
* ' 9 12
12
6 6
6 6
6 6
D D
D D
D D
m m
m m m
m m
m m m
m m
m m m
= + = +
= + = +
= + = +
(6.16)
Coordonatele celor trei mase concentrate
* * *
10 11 12
, , m m m din punctele
10 1 11 2 12 3
, , M D M D M D se vor determina cu relaiile:
1 1 1 1
2 2 2
3 3 3 3
10 1 1 10 1 1 10 4
11 2 2 11 2 2 11 5
12 3 3 12 3 3 12 6
c , s ,
c , s ,
c , s ,
D B D D
D D D
D D B D
X X X d q Y Y d q Z Z q
X X d q Y Y d q Z Z q
X X d q Y Y Y d q Z Z q
= = + = = = =
= = = = = =
= = = = + = =
(6.17)
Masele concentrate
* * *
13 14 15
, , m m m din centrele de greutate
10 13 11 14 12 15
, , C M C M C M vor fi:
* * *
13 10 14 11 15 12
2 2 2
, ,
3 3 3
m m m m m m = = = (6.18)
Coordonatele acestor mase concentrate vor fi:
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3
13 13 13
14 14 14
15 15 15
1 1 1
; ;
2 2 2
1 1 1
; ;
2 2 2
1 1 1
; ;
2 2 2
D A D A D A
D A D A D A
D A D A D A
X X X Y Y Y Z Z Z
X X X Y Y Y Z Z Z
X X X Y Y Y Z Z Z
= + = + = +
= + = + = +
= + = + = +
(6.19)
Cele trei mase concentrate
* * *
16 17 18
, , m m m din punctele
16 17 18
, , M M M se determin cu
urmtoarele relaii (vezi fig. 6.3):
* * * 10 11 12
16 17 18
; ; ;
6 6 6 6 6 6
m m m m m m
m m m = + = + = + (6.20)
n care m este mase unei bare din cele trei bare care compun platforma.
In punctual
23
M se concentreaz masa dispozitivului de prindere (
d
m ) cu masa manipulat
sau masa sculei
o
m (masa obiect).
*
23 d o
m m m = + (6.21)
Coordonatele punctelor
16 17 18
, , M M M n raport cu sistemul fix OXYZ vor fi:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
170
1 1 1
2 2 2
3 3 3
16 16 16
17 17 17
18 18 18
; ;
; ;
; ;
A A A
A A A
A A A
X X Y Y Z Z
X X Y Y Z Z
X X Y Y Z Z
= = =
= = =
= = =
(6.22)
Coordonatele punctului
22
M pot fi determinate cu relaiile:
22 22
22 22
22 22
i i
i i
i i
A M A M
A M A M
A M A M
X X x x
c c c s s c c c s c c s
Y Y cs c c c s s c s c c s s y y
s c s s c
Z Z z z
u u u
u u u
u u u
( (
(
( (
(
= + +
( (
(
( (
(
( (
(6.23)
De unde:
22 22
22 22
22 22
i i
i i
i i
M A A M
M A A M
M A A M
X X x x
c c c s s c c c s c c s
Y Y cs c c c s s c s c c s s y y
s c s s c
Z Z z z
u u u
u u u
u u u
( ( (
(
( ( (
(
= + +
( ( (
(
( ( (
(
( ( (
(6.24)
Masele concentrate din centrele de greutate ale celor trei bare (vezi figura 2.3) vor fi:
* * *
19 20 21
2
3
m m m m = = = (6.25)
n mod similar cu relaia (6.24) se pot calcula coordonatele punctului
23
M :
23 23
23 23
23 23
i i
i i
i i
M A M A
M A A M
A M A M
X x x X
c c c s s c c c s c c s
Y Y cs c c c s s c s c c s s y y
s c s s c
Z Z z z
u u u
u u u
u u u
( ( ( (
( ( (
(
= + +
( ( (
(
( ( (
(
( ( (
(6.26)
Cunoscnd relaiile (6.26) i (6.22) se pot determina coordonatele punctelor de mas
19 20 21
, , M M M astfel:
16 22 16 22 16 22
19 19 19
17 22 17 22 17 22
20 20 20
18 22 18 22 18 22
21 21 21
, ,
2 2 2
, ,
2 2 2
, ,
2 2 2
X X Y Y Z Z
X Y Z
X X Y Y Z Z
X Y Z
X X Y Y Z Z
X Y Z
+ + +
= = =
+ + +
= = =
+ + +
= = =
(6.27)
Sunt date n cadrul modelului dinamic invers legile de variaie n timp ale coordonatelor
generalizate ale efectorului final.
( )
E E
X X t = , ( )
E E
Y Y t = , ( )
E E
Z Z t = , ( ) t = , ( ) t u u = , ( ) t =
(6.28)
Se cer forele i momentele de aciune n cuplele motoare:
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
171
1 1
M t = ,
2 2
M t = ,
3 3
M t = ,
4 4
F t = ,
5 5
F t = ,
6 6
F t =
(6.29)
Pentru rezolvarea modelului dinamic invers se utilizeaz principiul deplasrilor virtuale, n
care cele N elemente mobile ale robotului se nlocuiesc cu un sistem dinamic echivalent de n
mase concentrate
* * *
1 2 23
, , ... , m m m n punctele , 1,2, ... ,23
i
M i = de coordinate
, , , 1,2, ... ,23
i i i
X Y Z i = .
Se fac urmtoarele notaii:
| |
1 2 3 4 5 6
T
q q q q q q q = , vectorul coordonatelor generalizate ale robotului
| |
1 2 3 4 5 6
T
q q q q q q q o o o o o o o = , vectorul deplasrilor virtuale n cuplele motoare
| |
1 2 3 4 5 6
T
q q q q q q q =
, vectorul vitezelor generalizate ale robotului
| |
1 2 3 4 5 6
T
q q q q q q q =
, vectorul acceleraiilor generalizate ale robotului
| |
T
P E E E
X X Y Z u = , vectorul coordonatelor generalizate ale efectorului final
| |
T
Mi i i i
X X Y Z = , 1,2, ... 23 i = , vectorul coordonatelor carteziene ale punctelor
i
M de
mase
*
i
m dinamic echivalente cu sistemul de N elemente mobile, 1,23 i =
T
P E E E
X X Y Z u
(
=
, vectorul vitezelor generalizate ale efectorului final
T
P E E E
X X Y Z u
(
=
, vectorul acceleraiilor generalizate ale efectorului final
| |
T
Mi i i i
X X Y Z o o o o = , vectorul deplasrilor virtuale (elementare) ale punctelor
i
M ,
1,2, ... 23 i =
T
Mi i i i
X X Y Z
(
=
, vectorul vitezelor punctului
i
M , 1,2, ... 23 i =
T
Mi i i i
X X Y Z
(
=
, vectorul acceleraiilor punctului
i
M , 1,2, ... 23 i =
| | | |
1 2 3 4 5 6 1 2 3 1 2 3
T T
M M M F F F t t t t t t t = , vectorul forelor i momentelor de
acionare ale robotului.
n scopul determinrii modelului dinamic al sistemului de n=23 puncte
i
M de mase
*
i
m
( 1,2, ... 23 i = ) dinamic echivalente cu sistemul de N=13 elemente mobile ale robotului paralel
se va aplica principiul deplasrilor virtuale (principiul lucrului mecanic virtual) scriind c suma
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
172
momentelor mecanice virtuale (elementare) ale forelor i momentelor de acionare
1 1
M t = ,
2 2
M t = ,
3 3
M t = ,
4 4
M t = ,
5 5
M t = ,
6 6
M t = , a forelor de greutate
i
mg , ( 1,2, ... 23 i = ) i a
forelor de inerie
i i
ma , ( 1,2, ... 23 i = ) este nul pentru deplasrile virtuale compatibile cu
legturile.
23
1
( ) 0
i
T T Tr g
M i i
i
W q X T T o o t o
=
+ + =
1,23 i = (6.30)
Primul termen din relaia (6.30) reprezint lucrul mecanic virtual al forelor i momentelor de
acionare.
| |
1
2
3
1 2 3 4 5 6 1 1 2 2 6 6
4
5
6
...
T
q q q q q q q q q q
t
t
t
o t o o o o o o t o t o t o
t
t
t
(
(
(
(
= = + + +
(
(
(
(
(
(6.31)
Al doilea termen din primul membru al relaiilor (6.30) , reprezint lucrurile mecanice virtuale
ale forelor de inerie i de greutate ale celor n=23 puncte dinamic echivalente cu sistemul de
N=13 elemente mobile ale robotului.
23
1
( )
i
T Tr g
M i i
i
X T T o
=
+
(6.31)
Vectorul forelor de inerie ale punctelor
i
M , ( 1,2, ... 23 i = ) este:
* *
* *
* *
0 0
0 0
0 0
i i i i
Tr
i i i i i
i i i i
m X m X
T mY m Y
m Z m Z
( ( (
( ( (
= =
( ( (
( ( (
1,23 i = (6.32)
Vectorul forelor de greutate ale punctelor dinamic echivalente
i
M , ( 1,2, ... 23 i = ) este:
*
0
0
g
i
i
T
m g
(
(
=
(
(
1,23 i = (6.33)
n general, coordonatele , ,
i i i
X Y Z ale punctelor
i
M de mase concentrate
*
i
m ( 1,2, ... 23 i = ) pot
fi exprimate n funcie de coordonatele generalizate ale robotului
1 2 3 4 5 6
, , , , , q q q q q q i
coordonatele generalizate ale efectorului final , , , , ,
E E E
X Y Z u .
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
173
1 2 3 4 5 6
1 2 3 4 5 6
1 2 3 4 5 6
( , , , , , , , , , , , )
( , , , , , , , , , , , )
( , , , , , , , , , , , )
i i E E E
i i E E E
i i E E E
X X q q q q q q X Y Z
Y Y q q q q q q X Y Z
Z Z q q q q q q X Y Z
u
u
u
=
1,23 i = (6.34)
Dar:
( , , , , , )
i i E E E
q q X Y Z u =
1,23 i = (6.35)
Deci coordonatele carteziene ale punctelor
i
M pot fi scrise sub forma:
( , , , , , )
( , , , , , )
( , , , , , )
i i E E E
i i E E E
i i E E E
X X X Y Z
Y Y X Y Z
Z Z X Y Z
u
u
u
=
1,23 i = (6.36)
Prin derivare n raport cu timpul a relaiei (6.36) rezulta:
E i i i i i i
E E E E
i
i i i i i i E
i
E E E
i
i i i i i i
E E E
X X X X X X X
X Y Z Y
X
Y Y Y Y Y Y Z
Y
X Y Z
Z
Z Z Z Z Z Z
X Y Z
u
u
u
u
(
(
c c c c c c
(
(
c c c c c c
(
(
(
(
(
c c c c c c (
(
=
(
(
c c c c c c (
(
(
(
(
c c c c c c
(
(
( c c c c c c
(
1,23 i = (6.37)
Se fac urmtoarele notaii:
i
i
i M
i
X
Y X
Z
(
(
=
(
(
i
i
i M
i
X
Y X
Z
(
(
=
(
(
i
i i i i i i
E E E
M
i i i i i i
i
P E E E
i i i i i i
E E E
X X X X X X
X Y Z
X
Y Y Y Y Y Y
J
X X Y Z
Z Z Z Z Z Z
X Y Z
u
u
u
(
c c c c c c
(
c c c c c c
(
(
c
c c c c c c
(
= =
c c c c c c c (
(
c c c c c c
(
( c c c c c c
1,23 i = (6.38)
Cu notaiile (6.38), ecuaia (6.37) se poate scrie sub forma concentrat:
i
i
i
M i P
M
M P
P
X J X
X
X X
X
=
c
=
c
1,23 i = (6.39)
Prin derivarea n raport cu timpul a primei ecuaii (6.39) se obine:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
174
i
M i P i P
X J X J X = +
1,23 i = (6.40)
n expresia (6.40) avem:
i
i
M i
i
X
X Y
Z
(
(
=
(
(
E
E
E
P
X
Y
Z
X
(
(
(
(
=
(
(
(
(
(
i i i i i i
E E E
Mi i i i i i i
i
P E E E
X X X X X X d d d d d d
dt X dt Y dt Z dt dt dt
X Y Y Y Y Y Y d d d d d d d
J
dt X dt X dt Y dt Z dt dt dt
Z d
dt
u
u
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | | | | | | | | | c c c c c c c | |
= =
| | | | | | |
c c c c c c c
\ . \ . \ . \ . \ . \ . \ .
c
1,23
i i i i i i
E E E
Z Z Z Z Z d d d d d
X dt Y dt Z dt dt dt
i
u
(
(
(
(
(
(
(
(
| | | | | | | | | | c c c c c | |
(
| | | | | |
c c c c c c
\ . \ . \ . ( \ . \ . \ .
=
(6.41)
Cu notaiile (6.41), relaia (6.40) poate fi scris sub forma:
E i i i i i i
E E E E
i
i i i i i i E
i
E E E
i
i i i i i i
E E E
i
E
X X X X X X X
X Y Z Y
X
Y Y Y Y Y Y Z
Y
X Y Z
Z
Z Z Z Z Z Z
X Y Z
X d
dt X
u
u
u
u
(
(
c c c c c c
(
(
c c c c c c
(
(
(
(
(
c c c c c c (
(
= +
(
(
c c c c c c (
(
(
(
(
c c c c c c
(
(
( c c c c c c
(
| | c
|
c
\ .
i i i i i
E E
i i i i i i
E E E
i i i
E E E
X X X X X d d d d d
dt Y dt Z dt dt dt
Y Y Y Y Y Y d d d d d d
dt X dt Y dt Z dt dt dt
Z Z Z d d d
dt X dt Y dt Z
u
u
| | | | | | | | c c c c c | |
| | | | |
c c c c c
\ . \ . \ . \ . \ .
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | | c c c
| |
c c c
\ . \ . \
E
E
E
i i i
X
Y
Z
Z Z Z d d d
dt dt dt
u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
| | | | | c c c | |
(
(
| | | |
(
c c c
\ . \ . \ . ( .
1,23 i = (6.42)
Derivatele n raport cu timpul din ecuaia (6.42), unde 1,23 i = sunt:
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
175
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
X X X X X X X d
X Y Z
dt X X X Y X Z X X X
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
X X X X X X X d
X Y Z
dt Y Y X Y Y Z Y Y Y
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
X X X X X X X d
X Y Z
dt Z Z X Z Y Z Z Z Z
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
X X X X X X X d
X Y Z
dt X Y Z
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
X X X X X X X d
X Y Z
dt X Y Z
u
u u u u u u u
c c c c c c c | |
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
X X X X X X X d
X Y Z
dt X Y Z
u
u u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
(6.43)
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
Y Y Y Y Y Y Y d
X Y Z
dt X X X Y X Z X X X
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
Y Y Y Y Y Y Y d
X Y Z
dt Y Y X Y Y Z Y Y Y
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
Y Y Y Y Y Y Y d
X Y Z
dt Z Z X Z Y Z Z Z Z
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
Y Y Y Y Y Y Y d
X Y Z
dt X Y Z
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
Y Y Y Y Y Y Y d
X Y Z
dt X Y Z
u
u u u u u u u
c c c c c c c | |
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
Y Y Y Y Y Y Y d
X Y Z
dt X Y Z
u
u u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
(6.44)
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
Z Z Z Z Z Z Z d
X Y Z
dt X X X Y X Z X X X
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c c
\ .
(6.45)
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
176
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
Z Z Z Z Z Z Z d
X Y Z
dt Y Y X Y Y Z Y Y Y
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E E E E E E E
Z Z Z Z Z Z Z d
X Y Z
dt Z Z X Z Y Z Z Z Z
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
Z Z Z Z Z Z Z d
X Y Z
dt X Y Z
u
u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
Z Z Z Z Z Z Z d
X Y Z
dt X Y Z
u
u u u u u u u
c c c c c c c | |
= + + + + +
|
c c c c c c c c c c c
\ .
2 2 2 2 2 2
2
i i i i i i i
E E E
E E E
Z Z Z Z Z Z Z d
X Y Z
dt X Y Z
u
u u
| | c c c c c c c
= + + + + +
|
c c c c c c c c c c c
\ .
Vectorul deplasrilor virtuale ale punctului
i
M ( 1, ... ,23 i = ) va avea expresia:
i
i
i
E
i i i i i i
E E E E
M
E i i i i i i
M
E E E
M
i i i i i i
E E E
X
X X X X X X
Y X Y Z
X
Z Y Y Y Y Y Y
Y
X Y Z
Z
Z Z Z Z Z Z
X Y Z
o
o u
o
o
o
u o
o
ou
u o
(
( c c c c c c
(
(
c c c c c c
(
( (
(
( (
c c c c c c
(
=
( (
c c c c c c (
( (
(
(
(
c c c c c c
(
(
( c c c c c c
1,23 i = (6.46)
Relaia (6.46) poate fi scris concentrat sub forma:
i
M i P
X J X o o =
1,23 i = (6.47)
De unde rezult c:
i
T T T
M P i
X X J o o =
1,23 i = (6.48)
Ecuaia (6.48) poate fi scris sub forma dezvoltat astfel:
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
177
| | | |
i i i
E E E
i i i
E E E
i i i
E E E
i i i E E E
i i i
i i i
i i i
X Y Z
X X X
X Y Z
Y Y Y
X Y Z
Z Z Z
X Y Z X Y Z
X Y Z
X Y Z
X Y Z
o o o o o o o ou o
u u u
c c c (
(
c c c
(
( c c c
(
c c c
(
(
c c c
(
c c c
(
=
(
c c c
(
c c c
(
(
c c c
(
c c c
(
(
c c c
(
c c c
(
1,23 i = (6.49)
Utiliznd relaia (6.48), expresia principiului lucrului mecanic virtual (6.30) al forelor date i
de inerie (6.31) ia forma:
( )
23
1
0
T T T Tr g
P i i i
i
W q X J T T o o t o
=
+ + =
1,23 i = (6.50)
n relaia (6.50) q o ia forma:
1 1 1 1 1 1
2 2 2 2 2 2
1
3 3 3 3 3 3 2
3
4 4 4 4 4 4
4
5
5 5 5 5 5
6
E E E
E E E
E E E
E E E
E E E
q q q q q q
X Y Z
q q q q q q
X Y Z
q
q q q q q q q
X Y Z
q
q q q q q q
q
X Y Z
q
q q q q q
q
X Y Z
u
u
o
o
u
o
o
u
o
o
u
c c c c c c
c c c c c c
c c c c c c
c c c c c c
(
(
c c c c c c
(
c c c c c c (
=
(
c c c c c c
(
( c c c c c c
(
c c c c c c
(
c c c c c
5
6 6 6 6 6 6
E
E
E
E E E
X
Y
Z
q
q q q q q q
X Y Z
o
o
o
o
ou
o
u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
c
(
(
c c c c c c
(
c c c c c c (
1,23 i = (6.51)
n relaia (6.51) se pot face notaiile:
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
178
1
2
3
4
5
6
q
q
q
q
q
q
q
o
o
o
o
o
o
o
(
(
(
(
=
(
(
(
(
(
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3
4 4 4 4 4 4
5 5 5 5 5 5
6 6 6 6 6
E E E
E E E
E E E
q
P
E E E
E E E
E E E
q q q q q q
X Y Z
q q q q q q
X Y Z
q q q q q q
X Y Z
q
J
q q q q q q
X
X Y Z
q q q q q q
X Y Z
q q q q q
X Y Z
u
u
u
u
u
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c
= =
c c c c c c
c
c c c c c c
c c c c c c
c c c c c c
c c c c c
c c c c
6
q
u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
c
(
c c (
1,23 i = (6.52)
Cu notaiile (6.52), expresia (6.51) poate fi scris sub forma:
q P
q J X o o =
1,23 i = (6.53)
Rezult c:
T T T
P q
q X J o o =
1,23 i = (6.54)
Utiliznd relaia (6.54), ecuaia (6.50) devine:
( )
23
1
0
T T T T Tr g
P q P i i i
i
X J X J T T o t o
=
+ + =
1,23 i = (6.55)
Dup simplificare rezult c:
( )
23
1
0
T T Tr g
q i i i
i
J J T T t
=
+ + =
1,23 i = (6.56)
Prin nmulire la stnga cu
( )
1
T
q
J
se obine:
( ) ( )
23
1
1
T T Tr g
q i i i
i
J J T T t
=
= +
1,23 i = (6.57)
Utiliznd expresiile (6.52) si (6.42), forele de inerie i de greutate, relaia (6.57) poate fi
scris sub form matriceal astfel:
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
179
3 5 6 1 2 4
3 3 5 6 1 2
1
2
3 5 6 1 2 4
3
4 3 6 1 2 4 4
5
6 3 5 6 1 2 4
E E E E E E
E E E E E E
E E E E E E
q q q q q q
X X X X X X
q q q q q q
Y Y Y Y Y Y
q q q q q q
Z Z Z Z Z Z
q q q q q q
q q q q q q
t
t
t
t
t
t
u u u u u
c c c c c c
c c c c c c
c c c c c c
( c c c c c c
(
c c c c c c
(
(
c c c c c c
=
(
c c c c c c
(
(
c c c c c c
(
c c c c c c (
c c c c c c
1
3 5 6 1 2 4
i i i
E E E
i i i
E E E
i i i
E E E
i i i
i i i
i i i
X Y Z
X X X
X Y Z
Y Y Y
X Y Z
Z Z Z
X Y Z
X Y Z
X Y Z q q q q q q
u u u u
c c c ( (
( (
c c c
( (
( ( c c c
( (
c c c
( (
( (
c c c
( (
c c c
( (
(
c c c
(
c c c
(
(
c c c
(
c c c
(
(
c c c c c c c c c
(
c c c c c c c c c
(
23
1
*
*
*
0 0
0 0
0 0
i
E i i i i i i
E E E E
i i i i i i E
E E E
i i i i i i
i E E E
i
i
X X X X X X X
X Y Z Y
Y Y Y Y Y Y Z
X Y Z
Z Z Z Z Z Z
m X Y Z
m
m
u
u
u
u
=
(
(
(
(
(
(
(
(
(
(
(
c c c c c c
(
(
c c c c c c
(
(
(
(
c c c c c c
(
(
c c c c c c (
(
(
(
c c c c c c
(
( ( c c c c c c
(
(
(
i i i i i i
E E E
i i i i i i
E E E
i i
E
X X X X X X d d d d d d
dt X dt Y dt Z dt dt dt
Y Y Y Y Y Y d d d d d d
dt X dt Y dt Z dt dt dt
Z Z d d
dt X dt Y
u
u
+
(
(
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | c c
|
c c
\ .
0
0
E
E
E
i i i i
E E
X
g
Y
Z
Z Z Z Z d d d d
dt Z dt dt dt
u
| |
|
|
|
|
|
|
|
|
(
| (
+
|
( (
( |
( (
( |
(
( |
(
( |
(
( |
(
( |
(
( |
(
| | | | | | | | c c c c | |
( |
(
| | | | |
( | c c c c
\ . \ . \ . ( \ . \ .
\ .
)
(6.58)
6.4 Rezultate numerice
Simularea dinamic a unei traiectorii de micare pentru robotul paralel Recrob
Pentru realizarea simulrii s-a realizat un pseudocod (fig.6.4) pentru calculul forelor i
momentelor motoare, pe baza cruia s-a elaborat un program Matlab.
Read h, d, e, p;
Read
1 2 3 1 2 3
, , , , ,
B B B B B B
X X X Y Y Y ;
Read
1 2 3 1 2 3 1 2 3
, , , , , , , ,
A A A A A A A A A
x x x y y y z z z ;
Read , ,
E E E
x y z ;
Read , , , , , , , , , , ,
i f i f i f i f i f i f
X Y Z X Y Z u u ;
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
180
Read , 1,2,...,14
i
m i = ;
Set
max max max max
, , , v a e c ;
Compute t ;
Compute
1 2 3
, , I I I
A A A
;
Compute
1 2 3
, , i i i
A A A
;
For i=1 to 23
Compute
*
i
m ;
End
For 0
c
t = to t
Compute
( ), ( ), ( ), ( ), ( ), ( ),
( ), ( ), ( ), ( ), ( ), ( ),
( ), ( ), ( ), ( ), ( ), ( )
E c E c E c c c c
E c E c E c c c c
E c E c E c c c c
X t Y t Z t t t t
X t Y t Z t t t t
X t Y t Z t t t t
u
u
u
;
Compute
1 2 3 4 5 6
1 2 3 4 5 6
1 2 3 4 5 6
( ), ( ), ( ), ( ), ( ), ( ),
( ), ( ), ( ), ( ), ( ), ( ),
( ), ( ), ( ), ( ), ( ), ( )
c c c c c c
c c c c c c
c c c c c c
q t q t q t q t q t q t
q t q t q t q t q t q t
q t q t q t q t q t q t
For i=1 to 23
Compute , ,
i i i
X Y Z ;
End
For i=1 to 23
Compute
T
q
J ;
Compute , ,
i i i
X Y Z
;
Compute ,
T
i i
J J ;
Compute ,
Tr g
i i
T T ;
End
Compute
| |
1 2 3 4 5 6
, , , , ,
T
t t t t t t t = ;
End
Plot ( ), ( ), ( ), ( ), 1,6
j j j j
q t q t q t t j t =
Fig. 6.4 Psedocod pentru calculul forelor i momentelor motoare
Masele componentelor robotului au fost preluate din pachetul software Solid-Works unde s-a
impus ca i material aluminiul pentru toate elementele nestandardizate ale robotului:
- Masele arborilor canelai:
1 2 3
0.1132[ ] m m m Kg = = = ;
- Masele culisoarelor motoarelor de translaie i a flanei care leag culisorul de piulia
cu bile a arborelui canelat:
4 5 6
0.0594[ ] m m m Kg = = = ;
- Masele braelor orizontale B
i
D
i
sunt:
7 8 9
0.048[ ] m m m Kg = = = ;
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
181
- Masele braelor orizontale D
i
A
i
sunt:
10 11 12
0.0501[ ] m m m Kg = = = ;
- Masa platformei mobile este:
13
0.09[ ] m Kg = ;
- Masa dispozitivului de prindere i a masei manipulate:
14
0.005[ ] m Kg = ;
Pentru toate simulrile a fost folosit viteza maxim de 100 [mm/s] i acceleraia maxim de
500 [mm/s
2
].
Primul tip de traiectorie generat , fig. 6.5, prezint un caz particular n care efectorul final se
deplaseaz pe o traiectorie paralel cu axa Z a sistemul de coordonate fix. Coordonatele
efectorului final pentru acest caz sunt:
140 [ ]; 150[ ]; 130[ ]
1[ ]; 5[ ]; 1[ ]; 10[ ]; 1[ ]; 4[ ]
i f i f i f
i f i f i f
X X Y Y mm Z mm Z mm
u u
= = = = = =
= = = = = =
Al doilea caz particular de traiectorie generat, fig. 6.6, prezint cazul n care efectorul final al
robotului se deplaseaz pe o traiectorie paralel cu axa Y a sistemului de coordonate fix.
Coordonatele efectorului final pentru acest caz sunt:
140 [ ]; 140[ ]; 130[ ]
1[ ]; 5[ ]; 1[ ]; 10[ ]; 1[ ]; 4[ ]
i f i f i f
i f i f i f
X X Z Z mm Y mm Y mm
u u
= = = = = =
= = = = = =
Al treilea caz particular generat, fig. 6.7, este acela n care efectorul final al robotului se
deplaseaz pe o traiectorie paralel cu axa X a sistemul de coordonate fix al robotului.
Coordonatele efectorului final pentru acest caz sunt:
140 [ ]; 120[ ]; 140[ ]
1[ ]; 5[ ]; 1[ ]; 10[ ]; 1[ ]; 4[ ]
i f i f i f
i f i f i f
Y Y Z Z mm Y mm Y mm
u u
= = = = = =
= = = = = =
n ultimul caz, prezentat n fig. 6.8, efectorul final al robotului se mic pe o traiectorie liniar
aleatoare din spaiul de lucru al robotului. Coordonatele efectorului final sunt:
120[ ]; 140[ ]; 140[ ]; 130 [ ]; 150[ ]; 130 [ ]
1[ ]; 5[ ]; 1[ ]; 10[ ]; 1[ ]; 4[ ]
i f i f i f
i f i f i f
X mm X mm Y mm Y mm Z mm Z mm
u u
= = = = = =
= = = = = =
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
182
0 0.1 0.2 0.3 0.4
0.54
0.52
0.5
0.48
0.46
t[s]
q
1
[
]
0 0.1 0.2 0.3 0.4
0
0.2
0.4
t[s]
v
q
1
[
/
s
]
0 0.1 0.2 0.3 0.4
2
0
2
4
t[s]
a
q
1
[
/
s
2
]
0 0.1 0.2 0.3 0.4
50
0
50
t
M
q
1
(
N
m
m
)
0 0.1 0.2 0.3 0.4
9.35
9.4
9.45
9.5
t[s]
q
2
[
]
0 0.1 0.2 0.3 0.4
0
0.05
0.1
t[s]
v
q
2
[
/
s
]
0 0.1 0.2 0.3 0.4
0
1
2
t[s]
a
q
2
[
/
s
2
]
0 0.1 0.2 0.3 0.4
100
0
100
t
M
q
2
(
N
m
m
)
0 0.1 0.2 0.3 0.4
9.2
9.3
9.4
t[s]
q
3
[
]
0 0.1 0.2 0.3 0.4
0.4
0.2
0
t[s]
v
q
3
[
/
s
]
0 0.1 0.2 0.3 0.4
2
0
2
t[s]
a
q
3
[
/
s
2
]
0 0.1 0.2 0.3 0.4
50
0
50
t
M
q
3
(
N
m
m
)
0 0.1 0.2 0.3 0.4
170
180
190
t[s]
q
4
[
m
m
]
0 0.1 0.2 0.3 0.4
150
100
50
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
500
0
500
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
1
0
1
t
F
q
4
(
N
)
0 0.1 0.2 0.3 0.4
175
180
185
190
t[s]
q
5
[
m
m
]
0 0.1 0.2 0.3 0.4
60
40
20
0
t[s]
v
q
5
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
400
200
0
200
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
0.5
0
0.5
t
F
q
5
(
N
)
0 0.1 0.2 0.3 0.4
175
180
185
190
t[s]
q
6
[
m
m
]
0 0.1 0.2 0.3 0.4
60
40
20
0
t[s]
v
q
6
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
200
0
200
t[s]
a
q
6
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
0.5
0
0.5
t
F
q
(
N
)
Fig. 6.5 Forele i momentele motoare pentru o traiectorie paralel cu axa Z
0 0.1 0.2 0.3 0.4
15
10
5
0
5
t[s]
q
1
[
]
0 0.1 0.2 0.3 0.4
0
1
2
t[s]
v
q
1
[
/
s
]
0 0.1 0.2 0.3 0.4
10
0
10
t[s]
a
q
1
[
/
s
2
]
0 0.1 0.2 0.3 0.4
10
5
0
5
t
M
q
1
(
N
m
m
)
0 0.1 0.2 0.3 0.4
15
10
5
0
t[s]
q
2
[
]
0 0.1 0.2 0.3 0.4
0
0.5
1
1.5
t[s]
v
q
2
[
/
s
]
0 0.1 0.2 0.3 0.4
5
0
5
10
t[s]
a
q
2
[
/
s
2
]
0 0.1 0.2 0.3 0.4
50
0
50
t
M
q
2
(
N
m
m
)
0 0.1 0.2 0.3 0.4
15
10
5
0
t[s]
q
3
[
]
0 0.1 0.2 0.3 0.4
0
0.5
1
t[s]
v
q
3
[
/
s
]
0 0.1 0.2 0.3 0.4
5
0
5
t[s]
a
q
3
[
/
s
2
]
0 0.1 0.2 0.3 0.4
20
10
0
10
t
M
q
3
(
N
m
m
)
0 0.1 0.2 0.3 0.4
159.7
159.8
159.9
160
t[s]
q
4
[
m
m
]
0 0.1 0.2 0.3 0.4
40
20
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
200
0
200
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
0.4
0.2
0
0.2
0.4
0.6
t
F
q
4
(
N
)
0 0.1 0.2 0.3 0.4
160
160.1
160.2
t[s]
q
5
[
m
m
]
0 0.1 0.2 0.3 0.4
0
10
20
t[s]
v
q
5
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
100
0
100
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
1.5
1
0.5
0
t
F
q
5
(
N
)
0 0.1 0.2 0.3 0.4
160
160.1
160.2
t[s]
q
6
[
m
m
]
0 0.1 0.2 0.3 0.4
0
10
20
t[s]
v
q
6
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
100
0
100
t[s]
a
q
6
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
0.5
0
0.5
1
t
F
q
(
N
)
Fig. 6.6 Forele i momentele motoare pentru o traiectorie paralel cu axa Y
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
183
0 0.1 0.2 0.3 0.4
10
8
6
t[s]
q
1
[
]
0 0.1 0.2 0.3 0.4
0.1
0
0.1
t[s]
v
q
1
[
/
s
]
0 0.1 0.2 0.3 0.4
0
2
4
t[s]
a
q
1
[
/
s
2
]
0 0.1 0.2 0.3 0.4
100
50
0
50
t
M
q
1
(
N
m
m
)
0 0.1 0.2 0.3 0.4
8
6
4
2
t[s]
q
2
[
]
0 0.1 0.2 0.3 0.4
0
0.2
0.4
0.6
t[s]
v
q
2
[
/
s
]
0 0.1 0.2 0.3 0.4
5
0
5
t[s]
a
q
2
[
/
s
2
]
0 0.1 0.2 0.3 0.4
400
200
0
200
400
t
M
q
2
(
N
m
m
)
0 0.1 0.2 0.3 0.4
8
6
4
2
t[s]
q
3
[
]
0 0.1 0.2 0.3 0.4
0
0.1
0.2
t[s]
v
q
3
[
/
s
]
0 0.1 0.2 0.3 0.4
2
0
2
t[s]
a
q
3
[
/
s
2
]
0 0.1 0.2 0.3 0.4
100
0
100
200
t
M
q
3
(
N
m
m
)
0 0.1 0.2 0.3 0.4
169.7
169.8
169.9
170
t[s]
q
4
[
m
m
]
0 0.1 0.2 0.3 0.4
40
20
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
200
0
200
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
1
0
1
t
F
q
4
(
N
)
0 0.1 0.2 0.3 0.4
170
170.1
170.2
t[s]
q
5
[
m
m
]
0 0.1 0.2 0.3 0.4
0
10
20
t[s]
v
q
5
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
100
0
100
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
1
0
1
t
F
q
5
(
N
)
0 0.1 0.2 0.3 0.4
170
170.1
170.2
t[s]
q
6
[
m
m
]
0 0.1 0.2 0.3 0.4
0
10
20
t[s]
v
q
6
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4
100
0
100
t[s]
a
q
6
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4
0.2
0
0.2
0.4
t
F
q
(
N
)
Fig. 6.7 Forele i momentele motoare pentru o traiectorie paralel cu axa X
0 0.1 0.2 0.3 0.4 0.5
10
5
0
t[s]
q
1
[
]
0 0.1 0.2 0.3 0.4 0.5
0.6
0.4
0.2
0
t[s]
v
q
1
[
/
s
]
0 0.1 0.2 0.3 0.4 0.5
4
2
0
2
4
t[s]
a
q
1
[
/
s
2
]
0 0.1 0.2 0.3 0.4 0.5
100
50
0
50
t
M
q
1
(
N
m
m
)
0 0.1 0.2 0.3 0.4 0.5
0.5
0
0.5
1
t[s]
q
2
[
]
0 0.1 0.2 0.3 0.4 0.5
0.2
0.1
0
t[s]
v
q
2
[
/
s
]
0 0.1 0.2 0.3 0.4 0.5
1
0
1
2
3
t[s]
a
q
2
[
/
s
2
]
0 0.1 0.2 0.3 0.4 0.5
200
0
200
t
M
q
2
(
N
m
m
)
0 0.1 0.2 0.3 0.4 0.5
1
0
1
t[s]
q
3
[
]
0 0.1 0.2 0.3 0.4 0.5
0.4
0.2
0
t[s]
v
q
3
[
/
s
]
0 0.1 0.2 0.3 0.4 0.5
2
0
2
t[s]
a
q
3
[
/
s
2
]
0 0.1 0.2 0.3 0.4 0.5
100
0
100
t
M
q
3
(
N
m
m
)
0 0.1 0.2 0.3 0.4 0.5
170
180
190
t[s]
q
4
[
m
m
]
0 0.1 0.2 0.3 0.4 0.5
100
50
0
t[s]
v
q
4
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4 0.5
500
0
500
t[s]
a
q
4
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4 0.5
1
0
1
t
F
q
4
(
N
)
0 0.1 0.2 0.3 0.4 0.5
175
180
185
190
t[s]
q
5
[
m
m
]
0 0.1 0.2 0.3 0.4 0.5
40
20
0
t[s]
v
q
5
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4 0.5
200
0
200
t[s]
a
q
5
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4 0.5
0.4
0.2
0
0.2
t
F
q
5
(
N
)
0 0.1 0.2 0.3 0.4 0.5
175
180
185
190
t[s]
q
6
[
m
m
]
0 0.1 0.2 0.3 0.4 0.5
40
20
0
t[s]
v
q
6
[
m
m
/
s
]
0 0.1 0.2 0.3 0.4 0.5
200
0
200
t[s]
a
q
6
[
m
m
/
s
2
]
0 0.1 0.2 0.3 0.4 0.5
0.4
0.2
0
0.2
0.4
t
F
q
(
N
)
Fig. 6.8 Forele i momentele motoare pentru o traiectorie liniar oarecare
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
184
6.5 Validarea modelului dinamic utiliznd programul de simulare MSC Adams
MSC ADAMS este un pachet software folosit pentru modelarea virtual i studierea
comportamentului dinamic i cinematic al sistemelor complexe, fiind totodat cel mai folosit
program de simulare a ansamblelor mecanice. Acest sistem permite ncrcarea modelelor
CAD, n scopul studiului comportamentului acestora. Soluia dinamicii inverse a robotului
Recrob a fost testat i n acest software, graficele obinute putnd fi comparate cu graficele
obinute n Matlab.
Figurile 6.9, , 6.14 reprezint momentele din cuplele motoare q
1
, q
2
, q
3
, respectiv forele din
cuplele motoare q
4
, q
5
i q
6
. Pentru obinerea lor s-a importat in Excel rezultatele simulrii n
Matlab (graficele cu albastru) i cele obinute n MSC ADAMS (graficele cu rou).
Fig. 6.9 Momentul motor obinut pentru cupla q
1
Fig. 6.10 Momentul motor obinut pentru cupla q
2
Modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de mobilitate
185
Fig. 6.11 Momentul motor obinut pentru cupla q
3
Fig. 6.12 Fora motoare obinut pentru cupla q
4
Fig. 6.13 Fora motoare obinut pentru cupla q
5
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
186
Fig. 6.14 Fora motoare obinut pentru cupla q
6
Concluzii, contribuii i direcii viitoare de cercetare
187
Capitolul 7. Concluzii, contribuii i direcii viitoare de cercetare
7.1 Concluzii
Teza intitulat Dezvoltarea inovativ a roboilor paraleli reconfigurabili i propune s
completeze cunotinele actuale despre roboii reconfigurabili, domeniu relativ nou din cadrul
roboticii care este nc n cercetare, datorit potenialului care l are pentru industrie. Un robot
reconfigurabil, capabil s aib grade de libertate multiple poate ndeplini o plaj de sarcini mai
mare dect a unui robot clasic profilat pentru un anumit set de sarcini. Teza este structurat
pe apte capitole care motiveaz alegerea temei i descriu structura de robot aleas i
reconfigurarea acesteia.
Primul capitol al tezei prezint stadiul actual al cercetrilor n domeniul roboilor paraleli, dar i
seriali reconfigurabili, fiind prezentate pe scurt cele mai semnificative inovaii att de pe plan
naional, ct i internaional. Tot acest capitol prezint principalele avantaje dar i limitri ale
acestor roboi.
Al doilea capitol prezint o nou structur de robot paralel reconfigurabil. Robotul, intitulat
Recrob (Reconfigurable Robot) este iniial conceput s aib ase grade de mobilitate, dar
sunt apoi prezentate i explicate configuraiile acestuia cu ase, cinci, patru, trei plan, trei
spaial sau dou grade de mobilitate. Tot aici se prezint i modelul geometric invers i direct
al celor ase variaii, configuraii posibile ale robotului Recrob.
n capitolul trei este finalizat modelul cinematic al robotului n care sunt stabilite relaiile pentru
viteze i acceleraii ale tuturor configuraiilor robotului Recrob i este simulat o traiectorie n
spaiul de lucru al robotului.
Capitolul patru studiaz spaiul de lucru i singularitile celor ase configuraii posibile ale
robotului Recrob.
n capitolul cinci se prezint elemente de proiectare constructiv a dou variante constructive
propuse ale robotului Recrob cu ase grade de libertate, precum i realizarea unei machete
care valideaz micarea robotului Recrob.
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
188
Capitolul ase prezint modelul dinamic al robotului paralel reconfigurabil cu M=6 grade de
mobilitate.
7.2 Contribuii personale
O parte din cercetrile realizate n cadrul tezei de doctorat cu privire la robotul paralel
reconfigurabil Recrob constituie obiectul mai multor lucrri tiinifice i a unui brevet de
invenie. Principale contribuii ale autorului aduse n cadrul acestei teze de doctorat sunt:
Dezvoltarea unei structuri inovative de robot paralel reconfigurabil cu ase grade de
mobilitate coninut n propunerea de brevet de invenie [PLI 11b];
S-a realizat n cadrul tezei de doctorat o documentare temeinic cu privire la stadiul
actual al roboilor reconfigurabili; aceast documentare s-a prelungit ns pe tot
parcursul tezei odat cu fiecare salt realizat (cinematic, spaiu de lucru, singulariti,
dinamic, proiectare constructiv);
Dezvoltarea unei structuri paralele cu ase grade de libertate care se poate
reconfigura ns la cinci, patru, trei sau dou grade de libertate;
Modelarea cinematic a variantelor posibile de reconfigurare ale robotului Recrob n
cadrul cruia s-a obinut ecuaiile analitice pentru modelul geometric invers i direct,
precum i relaiile pentru viteze i acceleraii necesare pentru comanda i studiul
comportamentului robotului;
Simularea diferitor traiectorii de micare ale robotului, evideniind comportamentul
privind poziia i orientarea, viteza i acceleraia att a efectorului final ct i a cuplelor
motoare pentru toate configuraiile robotului Recrob;
Analiza spaiului de lucru i reprezentarea lui pentru toate configuraiile robotului;
Gsirea i reprezentarea punctelor singulare ale robotului paralel reconfigurabil
Recrob;
Modelarea dinamic a robotului paralel reconfigurabil cu M=6 grade de libertate,
utiliznd principiul deplasrilor virtuale;
Analiza a dou variante constructive posibile ale configuraiei robotului cu M=6 grade
de libertate, precum i realizare unei machete care valideaz principiul de funcionare
al robotului.
Alegerea sistemul de acionare al celor dou variante constructive;
Concluzii, contribuii i direcii viitoare de cercetare
189
Pentru programarea modelelor matematice (cinematic, spaiu de lucru, singulariti,
dinamic) i pentru proiectarea constructiv au fost folosite mai multe pachete
software specializate cum ar fi: Matlab R2008b, Maple 12, Autocad Mechanical 2008,
Solid Works 2007, NX6, MSC ADAMS 2005.
7.3 Direcii viitoare de cercetare
Cercetrile prezentate n aceast tez de doctorat reprezint un nceput de drum n domeniul
roboilor paraleli reconfigurabili. Nici structura luat n considerare nu este finalizat. Rmn
spre finalizare urmtoarele:
Optimizarea structurii robotului Recrob i gsirea unei metode de reconfigurare mai
rapide din punct de vedere mecanic;
Realizarea modelului experimental al robotului Recrob, dar dezvoltarea i altor structuri
inovative care s aib caracteristici superioare robotului Recrob;
Realizarea sistemului de comand i control al robotului Recrob;
Realizarea unui sistem de msurare a erorilor de poziionare pentru varianta
constructiv cu motoare piezoelectrice a robotului Recrob;
Dezvoltarea inovativ a unui robot paralel reconfigurabil cu ase grade de mobilitate
190
191
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ZHA 09 Zhao, J-S., et. al., Synthesis of a Reconfigurable Mechanism and Its Kinematic
Chains, ASME/IFTOMM Int. Conf. on Reconfigurable Mechanisms and Robots
(REMAR), vol. 22, pp. 153-161, 2009
200
1
st
International Conference on Quality and Innovation in Engineering and Management 17
th
19
th
of March, Cluj-Napoca, Romania
INVERSE AND DIRECT GEOMETRICAL MODEL OF A NEW RECONFIGURABLE
PARALLEL ROBOT
Dorin-Bogdan, Lee
1
, Doina, Psl
2
, Clin, Vaida
2
, Iacob, Scurtu
2
and Nicolae, Plitea
2
1
Technical University of Cluj-Napoca, Memorandumului 28, Cluj-Napoca, Romnia, dorinlese@yahoo.com
2
Technical University of Cluj-Napoca, Memorandumului 28, Cluj-Napoca, Romnia
ABSTRACT: In order to reach different industrial task requirements using the same equipment, reconfigurable robots have been
developed. Reconfigurable robots can be defined as a group of robots that can be assembled into different configurations and
geometries, having different degrees of freedom. Static and dynamic reconfigurations can be distinguished, this work covering the
first category. The first part of the paper contains the state of the art and other theoretical aspects. The second part presents the
development of a new parallel reconfigurable robot (entitled Recrob) in different configurations corresponding to different degrees
of freedom. The structural synthesis of Recrob, the inverse and direct geometrical models are also presented.
1. INTRODUCTION
Many industrial applications require different solutions for
obtaining the desired results. For solving certain technical
tasks, a dedicated mechanism should be developed for each
application. Reconfigurable robots can be defined as a specific
category of robots whose components: individual joints and
links can be assembled in different configurations.
Ideally, the reconfigurable systems are very flexible robotic
systems that can change their form independently, in order to
cope with the sudden changes in the manufacturing market.
Chen presents in [1] a modular reconfigurable structure, which
can be assembled as a serial structure when there is a need for a
large workspace or, as a parallel structure when the rigidity, the
precision and the speed are essential [2].
Among the most well known achievements in modular robotics
area with reconfiguration possibilities are M-Tran II
(Distributed Systems Design Research Group- Tsukuba,
Japan), Polybot (Xerox-Palo Alto Research Center, USA),
Telecube (Xeroc-PARC), CONRO (University of Southern
California-Los Angeles), Crystalline and Molecule (Dartmouth
Robotics Lab., SUA), I-Cube (Advanced Mechatronics
Laboratory-Carnegie Mellon University), Atron (Adaptronics
Group-University of southern Denmark), Titech (Tokyo
Institute of Technology). Also modular reconfigurable robots
are studied in [3], [4] and [5].
A new class of reconfigurable systems is introduced in [6].
These systems are based on a tripod structure. Some of the
links of the robot are adjustable, hence the structures
reconfigurability.
A modular reconfigurable parallel robot can be rapidly
constructed and its workspace can be varied by changing the
leg positions, joint types, and link lengths for a variety of tasks.
Modularity has many advantages. This kind of parallel robot
comprises components built with standardized units or
dimensions. This leads to flexibility, variety in use, rapid
changeover and ease of maintenance.
Reconfigurability is, as mentioned in [7], a change of the
characteristics of the robot in operation. Stechert proposes in
his paper a classification of reconfiguration: static
reconfiguration and dynamic reconfiguration.
Static reconfiguration assumes a manual reconstruction of the
robot. For example the orientation of the actuators can be
changed. After the reconfiguration, it will result a new robot
with different kinematic characteristics and different
workspace.
There are two types of dynamic reconfiguration: The first type
uses the transition of singularities of type I and II in order to
create an additional area of the workspace. The second uses a
change of kinematic characteristics in operation. For this,
variable length links and multiple degree joints that can block
one degree of freedom are used.
A tripod based parallel reconfigurable structure is described in
[8]. By detaching one or more arms of the robot, the resulting
structure has 6, 5, 4 or 3 degrees of freedom.
A new approach for the analysis of a family of parallel
reconfigurable robots is proposed by Gogu in [9]. The parallel
structure, called Isogliden-TaRb, can have up to five degrees of
freedom which are a combination of maximum 3 independent
translations and maximum 2 rotations. The reconfiguration is
obtained by blocking 1, 2, 3 or 4 actuators with no change in
the architecture of the robot.
Other similar robots with parallel structure are described in
[10], [11], [12], [13], [14].
Yang has focused on the design and kinematic analysis of 3-leg
modular reconfigurable parallel robots [15].
Negri developed a parallel kinematic reconfigurable machine
[16].
Choi proposed a reconfigurable planar parallel robot that has
the capacity of being reconfigured in various types of planar
parallel robots. The robots workspace can be changed by
coupling or decoupling the platform and two or more 2R
chains, each having a passive joint on level 2 [17].
2. STRUCTURAL CONSIDERATIONS
The use of this parallel kinematic structure could be motivated
due to the practical need to develop different mechanisms
having different degrees of freedom with minimum investment.
The major disadvantage of the robotic structure represents the
high cost of production due to the number of motors and
modules necessary for the construction on the structure. This
disadvantage may be equilibrated by the flexibility the robot
offers to the user, as in many fields of activity it is not
necessary to use all six degrees of freedom, but solutions with
two, three, four or five degrees of freedom may be more
suitable.
Accuracy assembly tasks, laser and water cutting are some of
the applications and fields of interest of this robot.
The studied parallel structure, called Recrob (REConfigurable
ROBot), has three identical kinematic chains, connected to the
mobile platform through spherical joints and to the base
through prismatic joints (Figure 1). Each kinematic chain has 1
linear drive and 1 rotational drive.
2.1. Structural analysis of Recrob
The robot studied in this paper can be static reconfigured. The
base model having 6 degrees of freedom can be reconfigured as
a 5, 4, 3 or 2 dof robot by blocking one or more motors. The
exact configuration possibilities are presented later on in this
paper.
The degree of freedom (dof) of Recrob is computed with the
following relation [18]:
( ) ( ) ( ) ( )
( ) ( )
5 4 3
2 1
M 6 F N 5 F C 4 F C 3 F C
2 F C 1 F C
=
(1)
where:
- M mobility degree of the mechanism;
- F Mechanism family = the number of common
constraints for all mechanism elements;
- N number of mobile elements;
- C
i
the number of joints of i class;
Observation: In equation (1) the coefficients (1-F), , (6-F)
cannot take negative values.
Figure 1. Recrob Kinematic Diagram.
For the 6 dof Recrob the mobility of the robot will be
computed with the following relations:
3 C , 3 C , 3 C , 7 N , 0 F
3 4 5
= = = = = (2)
The mobility degree of the parallel mechanism will be:
3 4 5
C 3 C 4 C 5 N 6 M = (3)
M 6 7 5 3 4 3 3 3 = (4)
M 6 = (5)
2.2. Inverse geometric model
*
In the general case the end-effectors coordinates
u , , , Z , Y , X
E E E
are given and the driving coordinates
6 2 1
q ..., , q , q are computed ( u , , are Z
Y
*
z* - Euler angles).
E E E 1 2 3 4 5
X , Y , Z , , , q , q , q , q , q u | (6)
The coordinates of points
i
A , i 1, 2, 3 = corresponding to the
moving platform can be expressed with the next equations:
i i
i i
i
A B i i i i
A B i i i i
A i 3
X X d cq e c
Y Y d sq e s
Z q
+
= + + u
= + + u
i 1, 2, 3 =
(7)
The angles between the axes of the mobile system
2
A xyz
attached to the mobile platform, and the fixed system OXYZ
are expressed in table 1:
Table 1. Angles between axes of the mobile and fixed system
A
2
x A
2
y A
2
z
OX c
OY c
OZ c
The coordinates
i
A , i 1, 2, 3 = can be written as follows:
i i
i i
i i
A E A E
A E A E
A E A E
X X x x
c c c
Y Y c c c y y , i 1, 2, 3
c c c
Z Z z z
( (
' '' ''' o o o (
( (
(
' '' ''' = | | | = ( (
(
( (
( ' '' '''
( (
(8)
The direction cosine matrix is:
c ' c c c s s c '' c c c s c c ''' c s
c ' s c c c s c '' s c s c c c ''' s s
c ' s c c '' s s c ''' c
o = u o = u o = u
| = u + | = u + | = u
= u = u = u
(9)
The rotation matrix expressed in (9) result from:
c c c c s 0 c 0 s
c c c s c 0 0 1 0
c c c 0 0 1 s 0 c
c s 0
s c 0
0 0 1
' '' ''' o o o u u ( ( (
( ( (
' '' ''' | | | =
( ( (
( ( ( ' '' ''' u u
(
(
(
(
(10)
Where (the precesion angle) represents the rotation around
OZ
axis, (nutation angle) represents the rotation around OY
*
axis, represents the rotation around Oz
*
axis.
The coordinates of
i
A , i 1, 2, 3 = points resulted from equation
(8) are:
i i
i i
i i
A A E
E
A E A E
E
A A E
X x x
X c c c
Y Y c c c y y , i 1, 2, 3
c c c Z
Z z z
( (
= +
= +
3 , 2 , 1 i = (14)
Using equation (14), the equation (13) can be written:
( ) ( )
i i i i
2 2
2
A B i i A B i i i
X X d cq Y Y d sq e 0,
i 1, 2, 3
+ =
=
(15)
After the reduction of terms, equation (15) becomes:
( ) ( )
( ) ( )
i i i i
i i i i
A B i A B i
2 2
2 2
A B A B i i
i
X X cq Y Y sq
1
X X Y Y d e
2d
i 1, 2, 3
+ =
(
= + +
(
=
(16)
For ease in computations, the following notations were made:
( ) ( )
i Ai Bi
i Ai Bi
2 2
2 2
i Ai Bi Ai Bi i i
i
a X X
b Y Y
1
c X X Y Y d e
2d
i 1, 2, 3
=
(
= + +
(
(17)
Considering the notations (17), equation (16) becomes:
i i i i i
a cq b sq c , i 1, 2, 3 + = = (18)
Equation (18) has the following solution:
2 2 2
i i i i i
i i
q atan2(c , a b c )
atan2(a , b )
= +
3 , 2 , 1 i = (19)
The algorithm for the inverse geometric model is presented in
table 2:
Table 2. Inverse geometric model
Given:
E E E Ai Ai Ai E E E Bi Bi
X , Y , Z , , , , x , y , z , x , y , z , X , Y ,
i 1, 2, 3
u
=
Unknowns:
3 , 2 , 1 , = i q
i
Variables Solving equations
c ', c '', c
c ', c '', c ''
c ', c '', c '''
o o o
| | |
c ' c c c c '' c c c
c ''' c s
s s s c
c ' s c c c '' s c s
c ''' s s
c s c c
c ' s c c '' s s c ''' c
o = u o = u
o = u
| = u + | = u +
| = u
+ +
= u = u = u
3 , 2 , 1
, ,
= i
Z Y X
Ai Ai Ai
i i
i i
i i
A A E
E
A E A E
E
A A E
X x x
X c c c
Y Y c c c y y , i 1, 2, 3
c c c Z
Z z z
( (
+ +
=
2
) ( ) (
2 2 2 2
3 , 2 , 1 = i
3 , 2 , 1 , = i q
i
) , ( 2 tan ) , ( 2 arctan
2 2 2
i i i i i i i
b a a c b a c q + =
3 , 2 , 1 = i
2.3. Direct geometric model
In the general case of direct modelling the driving coordinates
6 2 1
q ..., , q , q are given, and the end-effectors coordinates
( u , , are ZYZ - Euler angles) are computed.
1 2 3 4 5 E E E
q , q , q , q , q X , Y , Z , , , u | (20)
For solving the direct geometric model, equation (7) can be
written as follows:
i i
i i
i
A B i i i i
A B i i i i
A i 3
X X d cq e c
Y Y d sq e s , i 1, 2, 3
Z q
+
= u
= u =
(21)
After squaring and adding the first two equations from (21)
results:
( ) ( )
i i i i
2 2
2
A B i i A B i i i
X X d cq Y Y d sq e ,
i 1, 2, 3
( (
+ =
=
(22)
The coordinates
i
A , i 1, 2, 3 = can be computed with equation
(11), and the direction cosine matrix (9).
From the equations (11) and (22) results:
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( )
i E Ai E Ai E
2
Ai E Di E Ai E
2 2
Ai E Ai E Di i
i 3 E Ai E Ai E
Ai E i 3
F [X x x c ' y y c ''
z z c ''' X ] [Y x x c '
y y c '' z z c ''' Y ] e 0
F Z x x c ' y y c ''
z z c ''' q 0
i 1, 2, 3
+
+
+ o + o +
o + + | +
| + | =
+ + +
(23)
There are at least two possible ways to determine the driving
coordinates 3 , 2 , 1 i , q , q
3 i i
=
+
. The system of equations (15)
raises problems when solved analytically because it is a
nonlinear system of equations, so a numerical approach (for
example Newton-Raphson method, Newton method or secant
method) is best suited for the job. For this article it was used
the Newton-Raphson method which was programmed using the
Matlab package software.
The first approach would be to solve all six equations using
Newton-Raphson Method. The algorithm for solving all six
coordinate is shortly described in the following paragraphs.
( ) ( ) ( )
( )
( )
( )
p p 1 p 1 p
X f X W X X
+
= p 0,1, 2, 3,... = (24)
Where:
- p represents the number of iterations;
-
(
(
(
(
(
(
(
(
=
E
E
E
Z
Y
X
X ;
- W(X) represents the Jacobian matrix of the system
(15);
( )
1 1 1
E E
2 2 2
E E
6 6 6
E E
F F F
X Y
F F F
X Y W X
F F F
X Y
c c c (
(
c c c|
(
( c c c
(
c c c| =
(
(
(
c c c
(
(
c c c|
(25)
The second approach solves numerically only the first three
equations using the Newton-Raphson Method. The equations
3 , 2 , 1 i , F
3 i
=
+
are more accessible and although they are
nonlinear equations, they lead to analytical solutions. This has
the great advantage of reducing the computation time to at least
half the time of the first method.
The algorithm for solving the driving coordinates using the
second method is presented below.
( )( )
( )
( ) ( )
1
3
4 E A E E E 4
5 E E E E 5
6 E E A E E 6
F Z x x s c y s s z c q 0
F Z x s c y s s z c q 0
F Z x s c y y s s z c q 0
+ u u u =
u u u =
u + u u =
(26)
If equation
5
F is subtracted from
4
F results after the reduction of
terms:
1 A
4 5
x
q q
c s
= u (27)
If equation
5
F is subtracted from
6
F results after the reduction
of terms:
3 A
5 6
y
q q
s s
= u (28)
Using the equation (27) and (28), an analytical result regarding
and u can be obtained.
1 3
2 2
5 4 6 5
1
A A
q q q q
s u
x y
| | | |
| | u = = +
| |
\ . \ .
(29)
2
1 1
c w 1 u u = = (30)
( )
1 1
atan2 u , w u = (31)
If sis extracted from equation (28) it results:
3
6 5
3
A 1
q q
u s
y u
= =
(32)
1
5 4
3
A
q q
w c
x
= = (33)
( )
3 3
atan2 u , w = (34)
Having and u obtained, Z
E
can be computed from either one
of the equations 3 , 2 , 1 i , F
3 i
=
+
. If Z
E
is extracted from the
expression of F
5
, it will have the following expression with
respect to the notations (29), (30), (32) and (33):
E E 1 3 E 1 3 E 1 5
Z x u u y u u z w q = + + + (35)
The remaining three equations of the system (23) can be
expressed with respect to the notations (29), (30), (32) and
(33):
( )( )
( )( )
( )
( ) ( )
( )( )
( )
i E Ai E 1 3 3
Ai E 1 3 1
2
Ai E 1 Di E
Ai E 1 3 3
Ai E 1 3 3
2 2
Ai E 1 Di i
F [X x x c w w s u
y y c w u s w
z z c u X ] [Y
x x s w w c u
y y s w u c w
z z s u Y ] e 0
+ +
+ +
+ +
+ + +
+ +
+ =
i 1, 2, 3 = (36)
The algorithm for solving the three equations (35) using
Newton-Raphson is presented next:
( ) ( ) ( )
( )
( )
( )
p p 1 p 1 p
X f X W X X
+
= p 0,1, 2, 3,... = (37)
Where:
- p represents the number of iterations;
-
E
E
X
X Y
(
(
=
(
(
;
-
1 1 1
E E
2 2 2
E E
3 3 3
E E
F F F
X Y
F F F
W(X)
X Y
F F F
X Y
( c c c
(
c c c
(
(
c c c
= (
c c c
(
(
c c c
(
c c c
(
represents the Jacobian
matrix of the system of equations (36);
The algorithm for solving the direct geometrical model with
the second method is presented in table 3:
Table 3. Direct geometric model
Given:
3 , 2 , 1 , = i q
i
Unknowns:
E E E Ai Ai Ai E E E Bi Bi
X , Y , Z , , , , x , y , z , x , y , z , X , Y , i 1, 2, 3 u =
Variables Solving equations
u
1
,w
1
1 3
2 2
5 4 6 5
1
A A
q q q q
s u
x y
| | | |
| | u = = +
| |
\ . \ .
2
1 1
c w 1 u u = =
( )
1 1
atan2 u , w u =
u
3
,w
3
3
6 5
3
A 1
q q
u s
y u
= =
1
5 4
3
A
q q
w c
x
= =
( )
3 3
atan2 u , w =
Z
E
E E 1 3 E 1 3 E 1 5
Z x u u y u u z w q = + + +
i i
D D
X , Y
i i
i i
D B i i
D B i i
X X d c(q )
Y Y d s(q )
= +
= +
E E
Y X , ,
( ) ( ) ( )
( )
( )
( )
p p 1 p 1 p
X f X W X X
+
= p 0,1, 2, 3,... =
E
E
X
X Y
(
(
=
(
(
1 1 1
E E
2 2 2
E E
3 3 3
E E
F F F
X Y
F F F
W(X)
X Y
F F F
X Y
( c c c
(
c c c
(
(
c c c
= (
c c c
(
(
c c c
(
c c c
(
2.4. Reconfiguration possibilities
The cases of Recrobs reconfiguration possibilities are
presented below:
1. 5 dof Recrob;
The drive coordinates are:
1 2 3 4 5 6
q , q , q , q , q q = (38)
The end-effector performs translations along OX, OY and OZ
axes and two rotations (precession and nutation angles). The
coordinates of the end-effector are:
0 , , , Z , Y , X
E E E
= u (39)
2. 4dof Recrob;
The drive coordinates are:
1 2 3 4 5 6
q , q , q , q q q = = (40)
The end-effector performs translations along OX, OY, OZ axes
and a rotation around OZ axis. The coordinates of the end-
effector are:
0 , 0 , , Z , Y , X
E E E
= = u (41)
3. 3dof planar Recrob;
The drive coordinates are:
1 2 3 4 5 6
q , q , q , ct q q q = = = (42)
The end-effector performs translations along OX and OY and a
rotation around OZ. The coordinates of the end-effector are:
0 , 0 , , ct Z , Y , X
E E E
= = u = (43)
4. 3 dof spatial Recrob;
The drive coordinates are:
1 2 3 4 5 6
q , q q , q q q = = = (44)
The end-effector performs only translations along OX, OY and
OZ axes. The coordinates of the end-effector are:
0 , 0 , 0 , Z , Y , X
E E E
= = u = (45)
5. 2 dof Recrob;
The end-effector coordintes are:
1 2 3 4 5 6
q , q q , ct q q q = = = = (46)
The end-effector performs translations along OX and OY axes.
The coordinates of the end-effector are:
0 , 0 , 0 , ct Z , Y , X
E E E
= = u = = (47)
3. NUMERICAL RESULTS
The constant geometrical parameters chosen for the numerical
model made using the software package Matlab are:
1 1
1
2 2 2
3 3 3
' ' '
i i i
i i i
1 2 3
1 2 3
A A
A
A A A
A A A
E E E
B 1 B B i 3
B B B
d d d d 0.058[m]
e e e e 0.109[m]
x p, y 0, z 0
x 0, y 0, z 0
x 0, y p, z 0
p p
x , y , z h 0.04[m]
3 3
X X p , Y Y , Z Z q
p 0.01[m]
+
= = = =
= = = =
= = =
= = =
= = =
= = = =
= = = = +
(48)
The geometrical algorithm of Recrob was validated using
Matlab software.The dimensions are given in millimetres and
degrees.The numerical results are shown in table 4 and 5.
Table 4. Results from the inverse geometrical model
end-
effectors
coordinates
MGI
(drive coordinates)
140[mm] 9.258833276[deg] 125.6975982[deg]
140[mm] 13.69882554[deg] 67.46335846[deg]
140[mm] 2.498878833[deg] 85.90907159[deg]
5[deg] 167.4401953[mm] 167.4401953[mm]
10[deg] 184.7627133[mm] 184.7627133[mm]
4 [deg] 185.9740217[mm] 185.9740217[mm]
Table 5. Results from the direct geometrical model
drive coordinates MGD
(end-effector coordinates)
9.258833[deg] 140.0[mm]
13.69882[deg] 140.0[mm]
2.498878[deg] 140.0[mm]
167.440195[mm] 5.0000001[deg]
184.762713[mm] 10.000003[deg]
185.974027[mm] 3.9999998[deg]
125.6975[deg] 140.0[mm]
67.46335[deg] 139.999999[mm]
85.90907[deg] 140.0[mm]
167.440195[mm] 5.0000001[deg]
184.762713[mm] 10.0000003[deg]
185.974021[mm] 3.9999998[deg]
As can be seen from table from table 1, in the inverse
geometrical model there are two possible configurations of the
robot arms and both verify the direct geometrical model.
There must be mentioned that for future calculus and control of
the robot it will be chosen only one possibility, in order to
eliminate some singularities.
4. CONCLUSIONS AND FUTURE WORK
Due to rapid market changes, the life cycle of a product
becomes more and more small and its structure more and more
complex. A reconfigurable system is designed, from the
beginning with the possibility of a fast change of its
mechanical structure, as well as in its software structure, so
that the production capacity and the functionality can be
rapidly changed in order to overcome the rapid market changes
mentioned above.
The basic idea of this research is to describe Recrob - a parallel
robot with six degrees of freedom capable of reconfiguration
from 6 to 5, 4, 3 or 2 degrees of freedom. Future works will
contain the kinematics model, the dynamic model of Recrob, as
well as CAD solutions of the models of all 6 possibilities of
reconfiguration and finally the experimental model.
5. ACKNOWLEDGEMENTS
The authors gratefully acknowledge the financial support
provided by PRODOC a project for the development of
PHD-studies in advanced technologies.
6. REFERENCES
1. Chen, I-Ming., Yang, Guilin., Yeo, Song Huat., Automatic
Modeling for Modular Reconfigurable Robotic Systems
Theory and Practice, Industral Robotics: Theory,
Modelling and Control, Germany, (2006).
2. Dash, Anjan Kumar., Chen, I-Ming., Yeo, Song-Huat.,
Yang, Guilin., Task Orieted Configuration for
Reconfigurable Parallel Manipulator Systems,
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Proceedings of Prodoc Conference Cluj-Napoca 2011
New research regarding the kinematics of a parallel
reconfigurable robot with six degrees of freedom
D-B. Lese
1
, N. Plitea
1
Technical University of Cluj-Napoca, dorinlese@yahoo.com, Nicolae.Plitea@mep.utcluj.ro
Abstract-Rapid changes of products in the manufacturing mar-
ket imposed the development of a new type of robots that are
more flexible and can cope with these changes. The idea of recon-
figuration is thus born and many studies have been made on this
matter. Reconfigurable robotic system are systems that can
change their geometry, their mobility degree and be default, their
workspace and their applicability. This paper presents the kine-
matics of a reconfigurable robot, called Recrob, its reconfigura-
tion is explained. The paper ends with the workspace representa-
tion, conclusions and applicability of such a robot.
I. INTRODUCTION
A reconfigurable manufacturing robot is designed in such a
way, it can change its structure in order to quickly adjust to
production capacity and functionality in response to sudden
changes in the manufacturing market or in periodic require-
ments.
Changes can only be met by changes. Two ways to bring
changes into a system are the concepts of flexible system and
the modular system [1]. The flexible system concept is based
on increasing the adjustable components. The modular concept
requires developing a architecture of a system such that the
system can be modified simply by assembling different mod-
ules.Among the characteristics of a reconfigurable robot are:
modularity, scalability, convertibility and diagnosticability.
Chen presents in [2] a modular reconfigurable structure,
which can be assembled as a serial structure when there is a
need for a large workspace or, as a parallel structure when the
rigidity, the precision and the speed are essential [3].
Among the most well known achievements in modular ro-
botics area with reconfiguration possibilities are M-Tran II
(Distributed Systems Design Research Group- Tsukuba, Ja-
pan), Polybot (Xerox-Palo Alto Research Center, USA),
Telecube (Xeroc-PARC), CONRO (University of Southern
California-Los Angeles), Crystalline and Molecule (Dartmouth
Robotics Lab., SUA), I-Cube (Advanced Mechatronics Labora-
tory-Carnegie Mellon University), Atron (Adaptronics Group-
University of southern Denmark), Titech (Tokyo Institute of
Technology). Also modular reconfigurable robots are studied
in [4], [5] and [6].
Reconfigurable tripod based robots are introduced in [7]
and [8]. Some of the robots links are adjustable, hence the
structures reconfigurability.
A new family of parallel reconfigurable robots is proposed
by Gogu in [9]. The structure, called Isogliden-TaRb can have
up tu 5 degrees of freedom witch are a combination of maxi-
mum 3 independent translations and 2 rotations. The reconfigu-
ration is obtained by blocking several actuators without any
change in the architecture of the robot.
Yang has focused on the design and kinematics analysis of
3-leged modular reconfigurable robots [10].
Another parallel reconfigurable machine was developed by
Negri in [11].
Choi studied in [12] a reconfigurable planar parallel robot
that has the capacity of being reconfigured into various types of
planar parallel robots. The robots workspace can be changed
by coupling or decoupling the platform and two or more 2R
chains, each having a passive joint on level 2.
The parallel robot presented in this paper represents some of
the work contained by the patent [13]. Several papers were
written on this subject: [14], [15], [16], also the yet unpub-
lished paper [17].
The rest of this paper is organized as follows: section 2 con-
taines the design of Recrob and its reconfigurability is ex-
plained. Section 3 presents the kinematics of the robot and sec-
tion 4 presents some simulation results.
II. DESIGN CONSIDERATIONS
A. Design of Recrob
In the design of Recrob the following design issues were
taken into consideration:
- modular and configurable structure with the possibility to
change the total dof;
- light structure and high dynamic performances, as a stan-
dard parallel robot;
- possibility to use fast actuators such as liniar actuators
- low complexity in the kinematic chains;
The resulting structure is presented in fig. 1. that presents the
kinematic scheme of the 6-DOF Recrob. The robot consists of
three kinematic chains for end-effector guiding, having the
active joints , 1, , 6
i
q i = . The three kinematic chains are
identical, each of them having one rotational motor (i=1, 2, 3),
which rotates a spline shaft (where the B
i
D
i
horizontal arm is
mounted), and one linear motor (i=1, 2, 3), which translates the
proximal rotational joint along the Z axis. The stators of the
linear motors are mounted on three vertical columns. The three
kinematic chains connect the robot base to the mobile platform
through the A
i
D
i
horizontal arms (i=1,2,3) with the help of
three passive spherical joints located in A
i
points (i=1,2,3).
There are also three passive rotational joints (located in D
i
,
i=1,2,3) between B
i
D
i
horizontal
arms and A
i
D
i
horizontal ones.
The three vertical columns form a right triangle
' ' '
1 2 3
B B B ,
where
' ' ' '
1 2 2 3
B B B B . The positioning and orientation of the par-
allel robot in the Cartesian space are achieved through the
combined motion of six motors.
Figure 1. Kinematic scheme of Recrob for M=6 gdl
Fig. 1 presents also the reference systems used for solving
the parallel robot kinematics. OXYZ represents the fixed sys-
tem of the robot, oxyz is the mobile reference system that is
connected to the mobile platform and Ex
E
y
E
z
E
represents the
mobile system corresponding to the characteristic E point of
the gripper.
The mobility degree of Recrob can be computed with the fol-
lowing equation [18]:
( ) ( ) ( ) ( )
( ) ( )
5 4 3
2 1
6 5 4 3
2 1
M F N F C F C F C
F C F C
=
(1)
5 4 3
0, 7, 3, 3, 3 F N C C C = = = = = (2)
After replacing the parameters (2) in equation (1), re-
sults the mobility degree of the robot:
6 M = (3)
In equation (1) M is the mobility degree of the mecha-
nism, F is the family of the mechanism (the number of
common constraints for all mechanism elements), N is
the number of mobile elements and
i
C is the number of
joints of i-class. In (1) the coefficients
(1 ),..., (6 ) F F cannot take negative values.
B. Reconfiguration possibilities of Recrob
Although the designed robot has 6 dof, many fields of activ-
ity, such as assembly and disassembly tasks, laser processing
of materials or water cutting tasks, require robots with less than
six dof, wich are complex and have a higher degree of com-
plexity. Thus the idea of reconfiguring a robot with six dof to
five, four three or two dof was born. The advantage of recon-
figuring an existing robot is the reuse of equipment. The recon-
figuration possibilities are more discussed in other papers [13],
[15], [17] and will only be reminded in the present paper:
- Case 1: The 5-dof reconfigurable parallel robot:
1 1 2 2 3 3 4 4 5 6 5
, , , , q q q q q q q q q q q = (4)
The mobile platform moves along OX, OY and OZ axes and
around oZ and oy*. The remaining positioning coordinates
are:
, , , , , 0
E E E
X Y Z u | = (5)
- Case 2: the 4-dof reconfigurable parallel robot:
1 1 2 2 3 3 4 5 6 4
, , , q q q q q q q q q q = = (6)
The end-effector performs translations along OX, OY and OZ
axes and one rotation around oZ axis. The remaining position-
ing coordinates are:
, , , , 0, 0
E E E
X Y Z u = = (7)
- Case 3: the 3-dog spatial translation parallel robot:
1 1 2 3 2 4 5 6 3
, , q q q q q q q q q = = = (8)
In this case, the mobile platform moves along the OX, OY and
OZ axes. The remaining positioning coordinates are:
, , , 0, 0, 0
E E E
X Y Z u = = = (9)
- Case 4: the 3-dof planar movement parallel robot:
1 1 2 2 3 3 4 5 6 0
, , , ( ) q q q q q q q q q Z const = = = (10)
The end-effector performs translations along OX and OY axes
and one rotation around oZ* axis. The generalized coordinates
are:
, , , ( ), 0, 0
E E E
X Y Z C const u = = = (11)
- Case 5: the 2 fog reconfigurable parallel robot:
1 1 2 3 2 4 5 6 0
, , ( ) q q q q q q q q Z const = = = = (12)
The mobile platform makes only two translations along OX
and OY axes. The remaining generalized coordinates are:
, , ( ), 0, 0, 0
E E E
X Y Z C const u = = = = (13)
C. Description of the problem
The kinematic structure presented in fig. 1 finds itself in a
singular point type I when the segments A
i
D
i
are collinear with
the segments D
i
B
i
. A representation of the singular points is
presented in fig. 2. In this figure only one kinematic chain is
presented because all three kinematic chains are identical, al-
though not symmetrical.
Figure 2. Recrob singularity type I
The singularity case presented above divides the mathemati-
cal model into two configurations. One, presented in the pre-
vios papers about Recrob is when the q
i
, i=1,2,3 driving coor-
dinates are measured counterclockwise. This paper presents the
configuration of Rcrob when the qi, i=1, 2, 3 driving coordi-
nates are measured clockwise. The kinematic scheme for this
case is presented in fig. 3.
Figure 3. Kinematic scheme of Recrob - different configuration( M=6)
III. KINEMATICS
A. Inverse geometric model for Recrob 6dof
The algorithm for solving the inverse geometric model is de-
tailed for the base structure, with 6 DOF, the other five con-
figuration being particularizations of the general case. In the
general case, the end-effectors coordinates
, , , , ,
E E E
X Y Z u
(where , , u are
' * *
Z Y z - Euler angles) are given and the
driving coordinates , 1, , 6
i
q i = are to be computed.
The coordinates of , 1, 2, 3
i
A i = points can be expressed with
the equations:
3
, 1, 2, 3
i i
i i
i
A B i i i i
A B i i i i
A i
X X d cq e c
Y Y d sq e s i
Z q
u
u
+
= + +
= + + =
(14)
The coordinates of , 1, 2, 3
i
A i = points from the mobile plat-
form can be determined as follows:
1, 2, 3
i i
i i
i i
A E A E
A E A E
A E A E
X X x x
c c c
Y Y c c c y y i
c c c
Z Z z z
o o o
| | |
( (
' '' '''
(
( (
(
' '' ''' = =
( (
(
( (
( ' '' '''
( (
(15)
Where X
E
,Y
E
, Z
E
are the coordinates of the E point with re-
spect to the fixed system and xE, yE, zE are the coordinates of
E point with respect to the mobile system.
The direction cosine matrix in case of the ZY*z* Euler an-
gles has the form:
' ''
'''
' ''
'''
' '' '''
c c c c c c c c
c c s
s s s c
c s c c c s c s
c s s
c s c c
c s c c s s c c
o u o u
o u
| u | u
| u
u u u
= =
=
= + = +
=
+ +
= = =
(16)
Eq. (15) can be written as:
, 1, 2, 3
i i
i i
i i
A A E
E
A E A E
E
A A E
X x x
X c c c
Y Y c c c y y i
c c c Z
Z z z
o o o
| | |
( (
' '' ''' ( (
( (
( (
' '' ''' = + =
( (
( (
( (
( ( ' '' '''
( (
(17)
The driving coordinates
3
, 1, 2, 3
i
q i
+
= are computed with:
3
, 1, 2, 3
i
i A
q Z i
+
= =
(18)
For computing the driving coordinates , , 1, 2, 3
i
q i = the al-
gorithm starts from the closure equation:
2 2 2 2
( ) ( ) ( ) 0,
1, 2, 3
i i i i i i
A D A D A D i
X X Y Y Z Z e
i
+ + =
=
(19)
The coordinates of , 1, 2, 3
i
D i = points can be determined
with:
3
1, 2, 3
i i
i i
i
D B i i
D B i i
D i
X X d cq
Y Y d sq i
Z q
+
= +
= + =
(20)
After the reduction of terms, Eq. (19) becomes:
( ) ( )
( ) ( )
2 2
2 2
1
, 1, 2, 3
2
i i i i
i i i i
A B i A B i
A B A B i i
i
X X cq Y Y sq
X X Y Y d e i
d
+ =
(
= + + =
(
(21)
The following notations are made:
( )
( )
( ) ( )
2
2
2 2
2 2
1, 2, 3
1
2
i i
i i
i i i i
i A B
i A B
i A B A B i i
i
a X X
b Y Y i
c X X Y Y d e
d
= =
(
= + +
(
(22)
Considering the notations (22), Eq. (21) becomes:
, 1, 2, 3
i i i i i
a cq b sq c i + = = (23)
having the following solution:
2 2 2
atan2( , ) atan2( , ), 1, 2, 3
i i i i i i i
q c a b c a b i = + = (24)
As mentioned before, we chose here the clockwise configu-
ration of the q
i
angles.
B. Direct geometric model for Recrob 6dof
The driving coordinates , 1, , 6
i
q i = are given in this
case, and the end-effectors coordinates , , , , ,
E E E
X Y Z u are
to be computed.
Eq. (14) can be written as follows:
3
, 1, 2, 3
i i
i i
i
A B i i i i
A B i i i i
A i
X X d cq e c
Y Y d sq e s i
Z q
u
u
+
=
= =
(25)
From the first two equations of (25), it yields:
( ) ( )
2 2
2
, 1, 2, 3
i i i i
A B i i A B i i i
X X d cq Y Y d sq e i
( (
+ = =
(26)
Replacing the , 1, 2, 3
i
A i = points coordinates, expressed
with (19) in Eq. (35), the equation system results, which has as
unknowns the 6 generalized coordinates:
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
2
2 2
3 3
[ ' '' ''' ]
[ ' '' ''' ] 0
' '' ''' 0
1, 2, 3
i i
i i i i
i i i
i E A E A E A E Di
E A E A E A E D i
i E A E A E A E i
F X x x c y y c z z c X
Y x x c y y c z z c Y e
F Z x x c y y c z z c q
i
o o o
| | |
c
+ +
+ + + +
+ + + + =
+ + + =
(27)
The system of equations (27) is a nonlinear one, thus a nu-
merical approach was used. The method used is Newton-
Raphson If Recrob has 6 degrees of freedom (general case),
there are also two ways to determine the generalized coordi-
nates of the system (27). One would be to apply the Newton-
Raphson to all six equations of the system (27). The disadvan-
tage of this method is the long time it lakes the computer to run
the algorithm. The other way to solve the system is to apply the
Newton-Raphson method to the first three equations of the
system, considering that the equations
3
, 1, 2, 3
i
F i
+
= are more
accessible and although they are nonlinear, they lead to ana-
lytical solutions. This has the advantage to reduce the total
computation time to at least half the time of the first method.
The equations (27) can be written as:
1 1
1 1
1 1
1 1
2 2
1
2
1 1
2 2
1 1 1
2
[ ( )( ) ( )
( ) ( )( ) ]
[ ( )( ) ( )
( ) ( )( ) ] 0
[ ( )( ) ( )
(
E A E A E
A E B
E A E A E
A E B
E A E A E
F X x x c c c s s y y
c c s s c z z c s X d cq
Y x x s c c c s y y
s c s c c z z s s Y d sq e
F X x x c c c s s y y
c
u
u u
u
u u
u
+ +
+ +
+ + +
+ + =
+ +
2 2
2 2
2 2
3 3
3 3
2
2 2
2 2
2 2 2
3
2
3 3
) ( )( ) ]
[ ( )( ) ( )
( ) ( )( ) ] 0
[ ( )( ) ( )
( ) ( )( ) ]
[
A E B
E A E A E
A E B
E A E A E
A E B
c s s c z z c s X d cq
Y x x s c c c s y y
s c s c c z z s s Y d sq e
F X x x c c c s s y y
c c s s c z z c s X d cq
u u
u
u u
u
u u
+ +
+ + +
+ + =
+ +
+ +
( )( )
( )
( ) ( )
3 3
3 3
1
3
2 2
3 3 3
4 4
5 5
6 6
( )( ) ( )
( ) ( )( ) ] 0
0
0
0
E A E A E
A E B
E A E E E
E E E E
E E A E E
Y x x s c c c s y y
s c s c c z z s s Y d sq e
F Z x x s c y s s z c q
F Z x s c y s s z c q
F Z x s c y y s s z c q
u
u u
u u u
u u u
u u u
+ + +
+ + =
+ =
=
+ =
(28)
Using the first two equations, it results after the reduction of
terms:
5 4
1 A
q q
s c
x
u
=
(29)
Using the first two equations, it results after the reduction of
terms:
6 5
3 A
q q
s s
y
u
=
(30)
Using Eq. (29) and (30), an analytical solution for and u
can be obtained.
1 3
2 2
5 4 6 5
1
A A
q q q q
s u
x y
u
| | | |
= = + | |
| |
\ . \ .
(31)
2
1 1
1 c w u u = = (32)
Due to the fact that
2
t
u < , the sine and cosine function is
positive, so only the positive values were taken in considera-
tion in the equation (31) and (32).
Using Eqs. (31) and (32), it results:
( )
1 1
atan2 , u w u = (33)
If s is extracted from (30) it results:
3
6 5
3
1 A
q q
u s
y u
= =
(34)
If c is extracted from Eq. (29) it results:
1
5 4
3
A
q q
w c
x
= =
(35)
Using Eqs. (34) and (35), it results:
( )
3 3
atan2 , u w = (36)
Knowing and u , Z
E
can be then computed from any of
the relations
3
, 1, 2, 3
i
F i
+
= . If Z
E
is extracted from the expres-
sion of F5, it will have the following expression with respect to
the notations (31), (32), (34) and (35):
1 3 1 3 1 5 E E E E
Z x u u y u u z w q = + + + (37)
The remaining three equations , 1, 2, 3
i
F i = of the system
(27) can be expressed with respect to the notations (31), (32),
(34) and (35) and solved by Newton-Raphosn iteration:
1 3 3 1 3 1
2
1 1 3 3
2 2
1 3 3 1 1
[ ( )( ) ( )( )
( ) ] [ ( )( )
( )( ) ( ) ] 0
1, 2, 3
i i
i i i
i i i
i E A E A E
A E D E A E
A E A E D
F X x x c w w s u y y c wu s w
z z c u X Y x x s w w c u
y y s wu c w z z s u Y e
i
+ + +
+ + + +
+ + =
=
(38)
C. The inverse kinematic model of Recrob
For the inverse kinematic model, knowing the end-effectors
velocities, , , , , ,
E E E
X Y Z u
, the driving velocities
1 2 6
, ,..., q q q are computed.
The velocities of the motors are:
. .
1
q B A X
=
(39)
Using Eq. (39) results the equations representing the accel-
erations of the motors:
1
( ) q B A X A X B q
= + +
(40)
D. The direct kinematic model of Recrob
In the direct kinematic model the input data are the velocities
of the actuators
1 2 6
, ,..., q q q and the output data are the ve-
locities of the end-effector , , , , ,
E E E
X Y Z u
.
The expressions for finding the speeds, respectively the ac-
celerations of the mobile platform are:
. .
1
X A B q
=
(41)
.. . . .. . .
1
( ) X A A X B q B q
= + +
(42)
Where:
1
1
2
2
3
3
4
4
5
5
6
6
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
F
q
F
q
F
q
B
F
q
F
q
F
q
c (
(
c
(
c (
(
c
(
( c
(
c
(
=
(
c
(
c
(
(
c
(
c
(
(
c
(
c (
(43)
1 1 1 1 1
2 2 2 2 2
3 3 3 3 3
4 4
5 5
6 6
0
0
0
0 0 1 0
0 0 1 0
0 0 1 0
E E
E E
E E
F F F F F
X Y
F F F F F
X Y
F F F F F
X Y
A
F F
F F
F F
u
u
u
u
u
u
c c c c c (
(
c c c c c
(
c c c c c (
(
c c c c c
(
( c c c c c
(
c c c c c
(
=
(
c c
(
c c
(
(
c c
(
c c
(
(
c c
(
c c
(44)
IV. NUMERICAL RESULTS
In order to have some visual data regarding the kinematic
model, an algorithm was developed in the package software
Matlab. The following geometrical parameters (lengths of arms
and coordinates of points with respect to the fixed or mobile
system: Figs. 1-6 were chosen for the kinematic simulation:
1 1 2 2 2
1
3 3 3
' ' '
1 2 3 1 2 3
1 3
1
58[ ]; 109[ ]
, 0, 0; 0, 0, 0
0, , 0; , , 40[ ]
3 3
, , ; 100[ ];
168[ ]
i i i
i i i
A A A A A
A
A A A E E E
B B B i
B B B
d d d d mm e e e e mm
x p y z x y z
p p
x y p z x y z h mm
X X p Y Y Z Z q p mm
p mm
+
= = = = = = = =
= = = = = =
= = = = = = =
= = = = + =
(45)
The maximum speed of the characteristic point for this simu-
lation was chosen to be 1 [m/s] and the maximum acceleration
was chosen to be 10 [m/s2].
The results for a linear trajectory of the end-effector with the
following data is presented in Fig. 7:
- the starting point is A(0.120[m], 0.140[m], 0.150[m])
- the end point is B(0.140[m], 0.130[m], 0.130[m])
where A and B are two arbitrary points within the work-
space.
Fig. 4 presents the time history diagrams for the displace-
ments, velocities, accelerations profiles of the E characteristic
point respectively in fig. 5 are presented the diagrams for ac-
tive joints.
0 0.02 0.04 0.06 0.08 0.1
120
125
130
t[s]
X
e
[m
]
0 0.02 0.04 0.06 0.08 0.1
0
200
t[s]
v
X
e
[m
/s
]
0 0.02 0.04 0.06 0.08 0.1
5000
0
5000
t[s]
a
X
e
[m
/s
2
]
0 0.02 0.04 0.06 0.08 0.1
135
140
t[s]
Y
e
[m
]
0 0.02 0.04 0.06 0.08 0.1
150
100
50
0
t[s]
v
Y
e
[m
/s
]
0 0.02 0.04 0.06 0.08 0.1
2000
0
2000
t[s]
a
Y
e
[m
/s 2
]
0 0.02 0.04 0.06 0.08 0.1
140
150
160
t[s]
Z
e
[m
]
0 0.02 0.04 0.06 0.08 0.1
300
200
100
0
t[s]
v
Z
e
[m
/s
]
0 0.02 0.04 0.06 0.08 0.1
5000
0
5000
t[s]
a
Z
e
[m
/s
2
]
0 0.02 0.04 0.06 0.08 0.1
0
0.05
0.1
t[s]
p
s
i [m
]
0 0.02 0.04 0.06 0.08 0.1
0
1
t[s]
v
p
s
i [m
/s
]
0 0.02 0.04 0.06 0.08 0.1
20
0
20
t[s]
a
p
s
i [m
/s
2
]
0 0.02 0.04 0.06 0.08 0.1
0
0.05
0.1
0.15
t[s]
th
e
ta
[m
]
0 0.02 0.04 0.06 0.08 0.1
0
2
t[s]
v
th
e
ta
[m
/s
]
0 0.02 0.04 0.06 0.08 0.1
50
0
50
t[s]
a
th
e
ta
[m
/s
2
]
0 0.02 0.04 0.06 0.08 0.1
0.02
0
0.02
0.04
0.06
0.08
t[s]
p
h
i [m
]
0 0.02 0.04 0.06 0.08 0.1
0
0.5
1
t[s]
v
p
h
i [m
/s
]
0 0.02 0.04 0.06 0.08 0.1
20
0
20
t[s]
a
p
h
i [m
/s
2
]
Figure 4. E point position, velocity and acceleration
0 0.02 0.04 0.06 0.08 0.1
120
125
130
t[s]
X
e
[m
]
0 0.02 0.04 0.06 0.08 0.1
0
200
t[s]
v
X
e
[m
/s
]
0 0.02 0.04 0.06 0.08 0.1
5000
0
5000
t[s]
a
X
e
[m
/s
2
]
0 0.02 0.04 0.06 0.08 0.1
135
140
t[s]
Y
e
[m
]
0 0.02 0.04 0.06 0.08 0.1
150
100
50
0
t[s]
v
Y
e
[m
/s
]
0 0.02 0.04 0.06 0.08 0.1
2000
0
2000
t[s]
a
Y
e
[m
/s 2
]
0 0.02 0.04 0.06 0.08 0.1
140
150
160
t[s]
Z
e
[m
]
0 0.02 0.04 0.06 0.08 0.1
300
200
100
0
t[s]
v
Z
e
[m
/s
]
0 0.02 0.04 0.06 0.08 0.1
5000
0
5000
t[s]
a
Z
e
[m
/s
2
]
0 0.02 0.04 0.06 0.08 0.1
0
0.05
0.1
t[s]
p
s
i [m
]
0 0.02 0.04 0.06 0.08 0.1
0
1
t[s]
v
p
s
i [m
/s
]
0 0.02 0.04 0.06 0.08 0.1
20
0
20
t[s]
a
p
s
i [m
/s
2
]
0 0.02 0.04 0.06 0.08 0.1
0
0.05
0.1
0.15
t[s]
th
e
ta
[m
]
0 0.02 0.04 0.06 0.08 0.1
0
2
t[s]
v
th
e
ta
[m
/s
]
0 0.02 0.04 0.06 0.08 0.1
50
0
50
t[s]
a
th
e
ta
[m
/s
2
]
0 0.02 0.04 0.06 0.08 0.1
0.02
0
0.02
0.04
0.06
0.08
t[s]
p
h
i [m
]
0 0.02 0.04 0.06 0.08 0.1
0
0.5
1
t[s]
v
p
h
i [m
/s
]
0 0.02 0.04 0.06 0.08 0.1
20
0
20
t[s]
a
p
h
i [m
/s
2
]
Figure 5. Position, velocity and acceleration of the driving coordinates
Another simulation regarding the workspace of this configu-
ration was made. Out of the many types of workspace repre-
sentations the dexterous workspace was chosen. This type of
workspace represents all the locations of the characteristic E
point for which all the orientations are possible.
This simulation was programmed in the package software
Matlab, as well as the simulation for linear trajectory. The
simulation results are presented in figure 6.
0
50
100
150
0
50
100
150
200
0
50
100
150
200
Figure 6. Dexterous workspace for Recrob M=6 gdl
V. CONCLUSIONS
This paper presents some new researches regarding a differ-
ent configuration of the parallel robot Recrob. The kinematic
model of the robot is presented and based on this model a liniar
trajectory simulation in the workspace of the robot was pre-
sented. Future works on this structure will be focused on the
dynamics of the robot and the achievement of the robot proto-
type.
ACKNOWLEDGMENT
This paper was partially supported by the project Project for
development of PHD studies in advanced technologies
PRODOC contract no. POSDRU/88/1.5/S/61178, project co-
funded by the European Social Fund through the Operational
Human Resources Program 2007-2013.
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2007.
[2] I-M. Chen, G. Yang, S.H. Yeo, Automatic Modeling for Modular Re-
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ics: Theory, Modelling and Control, Germany, 2006.
[3] A.K. Dash, I-M. Chen, S.H. Yeo, G. Yang, Task Oriented Configura-
tion for Reconfigurable Parallel Manipulator Systes, International Jor-
nal of Computer Integrated Manufacturing, vol. 18, No. 7, pp. 615-
634(20), 2005.
[4] X. Ping, X.J. Zhu, Y. Q. Fei, Mechanical Design and Locomotion Con-
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[6] Y. Zhang, C. Eldershaw, M. Yim, K. Roufas, D. Duff, A platform for
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[8] A. D. Finistauri, F. Xi, B. Petz, Architecture design and Optimization of
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[9] Gogu, G., Isogliden TaRb: a Family of up to Five Axes Reconfigurable
and Maximally Regular Parallel Kinematic Machines, International
Conference on Smart Machining Systems, 2007.
[10] G. Yang, I.-M. Chen, W.K. Lim, S.H. Yeo, Design and Kinematic
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pp.2501-2506, 1999.
[11] S. Negri, et. al., Improvement and optimization of a reconfigurable
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[13] N. Plitea., et. al. Familie de roboti paraleli cu sase grade de mobilitate,
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st
International Conference on Innovation in Engineering and Man-
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[15] D-B. Lese, N. Plitea, Modeling of a Parallel Reconfigurable Robot with
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TECHNICAL UNIVERSITY OF CLUJ-NAPOCA
ACTA TECHNICA NAPOCENSIS
Series: Applied Mathematics and Mechanics
Vol. 54, Issue I, 2011
KINEMATICS, WORSPACE AND SINGULARITY ANALYSIS OF A NEW
RECONFIGURABLE PARALLEL ROBOT
Dorin-Bogdan LEE, Nicolae PLITEA
Abstract: Reconfigurable robots are actuated mechanisms capable of achieving different industrial
applications, using the same equipment. Different configurations of these robots involve different degrees
of freedom and different workspaces. This paper starts by presenting some achievements in this field and
continues by presenting Recrob the robot under study, the kinematics, workspace and singularity
analysis of this robot. The mathematical models presented here are made for the general case in witch the
robot has 6 degrees of freedom. Some configuration possibilities are also presented. Key words: Parallel
robot, kinematics, workspace, singularity, reconfiguration.
1. INTRODUCTION
A parallel reconfigurable robot has multiple
links and joints that can be assembled into
different robot geometries. Compared to a
conventional industrial robot with fixed
geometry, such a system can provide great
flexibility to the user, enabling him to
accomplish a variety of tasks through proper
selection and reconfiguration of the parallel
robot.
A parallel reconfigurable robot can be
rapidly modified by changing leg positions,
joint types, link lengths or by adding different
constraint elements.
This allows for flexibility, variety in use,
rapid changeover and ease of maintenance.
Reconfigurability is, as mentioned in [1], a
change of the characteristics of the robot during
operation. Stechert proposes in his paper a
classification of reconfiguration: static and
dynamic reconfiguration.
Static reconfiguration assumes a manual
reconstruction of the robot. For example the
orientation of actuators can be changed, thus
the workspace is changed.
There are two types of dynamic
reconfiguration: The first type uses the
transition of singularities of type I and II in
order to create an additional area of the
workspace. The second uses a change of
kinematic characteristics in operation. In order
to do this, variable length links and multiple
degree joints that can block one degree of
freedom are used.
Reconfigurable robot prototypes have been
developed in research institutes worldwide, the
most important are presented below.
Chen and Dash presents in [2] and [3] a
modular reconfigurable robot that can be
assembled into a serial or a parallel structure
depending on the desire of the user.
Among the most well known achievements
in modular robotics area with reconfiguration
possibilities are M-Tran II (Distributed Systems
Design Research Group- Tsukuba, Japan),
Polybot (Xerox-Palo Alto Research Center,
USA), Telecube (Xeroc-PARC), CONRO
(University of Southern California-Los
Angeles), Crystalline and Molecule (Dartmouth
Robotics Lab., SUA), I-Cube (Advanced
Mechatronics Laboratory-Carnegie Mellon
University), Atron (Adaptronics Group-
University of southern Denmark), Titech
(Tokyo Institute of Technology). Also modular
reconfigurable robots are studied in [4], [5] and
[6].
Reconfigurable tripod based robots are
introduced in [7] and [8]. Some of the robots
links are adjustable, hence the structures
reconfigurability.
A new family of parallel reconfigurable
robots is proposed by Gogu in [9]. The
structure, called Isogliden-TaRb can have up tu
5 degrees of freedom witch are a combination
of maximum 3 independent translations and 2
rotations. The reconfiguration is obtained by
blocking several actuators without any change
in the architecture of the robot.
Yang has focused on the design and
kinematics analysis of 3-leged modular
reconfigurable robots [10].
Another parallel reconfigurable machine was
developed by Negri in [11].
Choi studied in [12] a reconfigurable planar
parallel robot that has the capacity of being
reconfigured into various types of planar
parallel robots. The robots workspace can be
changed by coupling or decoupling the
platform and two or more 2R chains, each
having a passive joint on level 2.
Other similar works on parallel
reconfigurable robots have been made in [13],
[14], [15], [16], [17]. The robot under study is
contained in the patent [18], and continues the
work presented in [19].
2. RECONFIGURATION OF RECROB
Recrob, the robot studied in this paper can
be static reconfigured. The base model has 6
degrees of freedom, but can be reconfigured to
a 5, 4, 3, or 2 degree of freedom robot, by
blocking one ore more motors and introducing
some constraint links. Figure 1 presents the
structure of Recrob.
Recrobs reconfiguration possibilities are
presented below:
a) 5 d.o.f Recrob
The drive are
1 2 3 4 5 6
q , q , q , q , q q = . The end-
effector performs translations along OX, OY
and OZ axes and two rotations (precession an d
nutation angles). The coordinates of the end-
effector are: 0 , , , Z , Y , X
E E E
= u .
b) 4 d.o.f Recrob
The drive coordinates are:
1 2 3 4 5 6
q , q , q , q q q = = .
The mobile platform performs one rotation and
3 translations. The coordinates of the end-
effector are: 0 , 0 , , Z , Y , X
E E E
= = u
c) 3 d.o.f planar Recrob
The drive coordinates are:
1 2 3 4 5 6
q , q , q , ct q q q = = = .The end-effector can
make translations along OX and OY axes and a
rotation around OZ axis. The coordinates of the
end-effector are: 0 , 0 , , ct Z , Y , X
E E E
= = u =
d) 3 d.o.f spatial Recrob
The drive coordinates are:
1 2 3 4 5 6
q , q q , q q q = = = .
This time, the mobile platform is able to move
along the OX, OY and OZ. The end-effector
coordinates are: 0 , 0 , 0 , Z , Y , X
E E E
= = u =
e) 2 d.o.f Recrob
The drive coordinates are:
1 2 3 4 5 6
q , q q , ct q q q = = = = . The end-effector
performs translations along Ox and OZ axes
and its coordinates are:
0 , 0 , 0 , ct Z , Y , X
E E E
= = u = = .
Fig. 1. Recrob Kinematic Scheme
3. THE GEOMETRIC MODEL OF
RECROB
In order to solve the kinematic model of
Recrob, the main equation of the inverse and
direct geometric model will be first presented.
3.1 Inverse geometric model
In the inverse geometric model [18], the
generalized coordinates of the end-effector
u , , , Z , Y , X
E E E
are given and the driven
coordinates
6 2 1
q ..., , q , q of the robot are
computed. The resulting equations for
computing the driving coordinates are
presented below, but are not proved here
because they are not the objective of this paper.
3
, 1, 2, 3
i Ai
q Z i
+
= = (1)
2 2 2
arctan 2( , ) tan 2( , )
1, 2, 3
i i i i i i i
q c a b c a a b
i
= +
=
(2)
Where:
i Ai Bi
a X X = (3)
i Ai Bi
b Y Y = (4)
2 2 2 2
( ) ( )
2
Ai Bi Ai Bi i i
i
i
X X Y Y d e
c
d
+ +
=
(5)
3.2 Direct geometric model
In the direct geometric model, the driving
coordinates
6 2 1
q ..., , q , q are given, and the
end-effectors coordinates u , , , Z , Y , X
E E E
are
computed.
The implicit system of functions for solving
the direct geometric model is a nonlinear
system of functions (6), thus a numerical
approach is best suited for solving it.
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( )
i E Ai E Ai E
2
Ai E Di E Ai E
2 2
Ai E Ai E Di i
i 3 E Ai E Ai E
Ai E i 3
F [X x x c ' y y c ''
z z c ''' X ] [Y x x c '
y y c '' z z c ''' Y ] e 0
F Z x x c ' y y c ''
z z c ''' q 0
i 1, 2, 3
+
+
+ o + o +
o + + | +
| + | =
+ + +
(6)
where:
c ' c c c c '' c c c
c ''' c s
s s s c
c ' s c c c '' s c s
c ''' s s
c s c c
c ' s c c '' s s c ''' c
o = u o = u
o = u
| = u + | = u +
| = u
+ +
= u = u = u
(7)
4. KINEMATICS
4.1 The inverse kinematic model of Recrob
Knowing the end-effectors velocities,
, , , , ,
E E E
X Y Z u , the driving velocities
1 2 6
, ,..., q q q are computed using equation
(9).
0
. .
= + q B X A (8)
.
1
.
X A B q =
(9)
where:
T
. . . . . . .
E E E
X X Y Z
(
= u
(
(10)
T
. . . . . . .
1 2 3 4 5 6
q q q q q q q
(
=
(
(11)
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3
4 4 4 4 4 4
5 5 5 5 5 5
6 6 6 6 6 6
E E E
E E E
E E E
E E E
E E E
E E E
F F F F F F
X Y Z
F F F F F F
X Y Z
F F F F F F
X Y Z
A
F F F F F F
X Y Z
F F F F F F
X Y Z
F F F F F F
X Y Z
u
u
u
u
u
u
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
=
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(12)
1 1 1 1 1 1
1 2 3 4 5 6
2 2 2 2 2 2
1 2 3 4 5 6
3 3 3 3 3 3
1 2 3 4 5 6
4 4 4 4 4 4
1 2 3 4 5 6
5 5 5 5 5 5
1 2 3 4 5 6
6 6 6
1 2 3
F F F F F F
q q q q q q
F F F F F F
q q q q q q
F F F F F F
q q q q q q
B
F F F F F F
q q q q q q
F F F F F F
q q q q q q
F F F
q q q
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
=
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c
c c c
6 6 6
4 5 6
F F F
q q q
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
c c c
(
c c c
(
(13)
The driving accelerations
1 2 6
, ,..., q q q will be
computed, knowing the end-effector
accelerations , , , , ,
E E E
X Y Z u |
.
By deriving equation (8) it results:
A X A X B q B q 0 + + + =
(14)
1
q B (A X A X B q)
= + +
(15)
4.1 The direct kinematic model of Recrob
In the direct kinematic model the input data
are the velocities of the actuators
1 2 6
, ,..., q q q and the output data are the
velocities of the end-effector
, , , , ,
E E E
X Y Z u |
.
Having equation (8), it results:
.
1
.
q B A X =
(16)
Also, having as input data the driving
accelerations
1 2 6
, ,..., q q q , the end-effectors
accelerations result from equation (14):
) (
. . .. . .
1
..
q B q B X A A X + + =
(17)
The partial derivates of the Jacobi matrix B
are presented next using the system (6):
( )
( )
( )
( )
1
1
1
1 1
1 1
2
2 (
3
1
3
2
) 2(
3
1
)
3
E
E B
E
E
F
X p c c c s s
q
p c c s s c z c s X
dcq dsq Y p s c c c s
p s c s c c z s s dsq dcq
u
u u
u
u u
c
= +
c
+ +
+
(18)
( )
( )
( ) (
) )
2
2
2 2
2 2
1
2
3
1
3
1 1
2
3 3
E
E
E
E
F
X p c c c s s
q
p c c s s c z c s dcq dsq
Y p s c c c s p s c s
c c z s s dsq dcq
u
u u
u u
u
c |
=
c
\
|
|
.
|
+ +
\
(19)
( )
( )
( ) (
) )
3
3
3 3
3 3
1
2
3
2
3
1 2
2
3 3
E
E
E
E
F
X p c c c s s
q
p c c s s c z c s dcq dsq
Y p s c c c s p s c s
c c z s s p dsq dcq
u
u u
u u
u
c |
= +
c
\
|
|
.
|
+ + +
\
(20)
5 6 4
4 5 6
1
F F F
q q q
c c c
= =
c c c
(21)
The rest of the partial derivates contained in
the Jacobi matrix B are equal to zero, thus the
Jacobi matrix B is a diagonal matrix.
Next, the partial derivates of the Jacobi
matrix A are computed:
) (
) (
1
1
1
4
2
3
2
2
3
2 2
E
E
E
B
F
X p c c c s s
X
p c c s s c z c s
X dcq
u
u u
c
= +
c
(22)
) (
) (
1
1
4
2
3
2
2
3
2
E
E
E
F
X p c c c c s
Y
p s c s c c z s s
dsq
u
u u
c
= + +
c
+
(23)
1
0
E
F
Z
c
=
c
(24)
( ( )
( )
) ( )
( ) )
( ( )
) ( )
( ) )
1
1
1
1
2
2
3
1
3
2 1
3 3
2
2
3
2 1
3 3
E
E B
E
E E
E
F
X p c c c s s
p c c s s c z c s X
dcq p s c c c s p
s c s c c z s s
Y p s c c c s z s s
dsq p c c c s s p
c c s s c z c s
u
u u
u
u u
u
u
u u
c
= +
c
|
\
+ +
+ +
|
\
(25)
( ( )
( )
) )
( ( )
( )
)
1
1
1
1
2
2
3
1
3
2 1
3 3
2 1
2
3 3
2 1
3 3
E
E B
E
E
E
E
F
X p c c c s s
p c c s s c z c s X
dcq pc s c pc s s z c c
Y p s c c c s p
s c s c c z s s
dsq ps s c ps s s z s c
u
u
u u
u u u
u
u u
u u u
c
= +
c
|
+
\
+ +
+
| |
|
\ .
(26)
( ( )
( )
) ( )
( ))
( ) ( )
) ( )
( ))
1
1
1
1
2
2
3
1
3
2 1
3 3
2
2
3
1
3
2 1
3 3
E
E B
E
E
F
X p c c c s s
p c c s s c z c s X
dcq p c c s s c p
c c c s s Y p
s c c c s p s c s c c
z s s dsq p s c s c c p
s c c c s
u
u u
u
u
u u
u u
u
c
= +
c
|
\
|
+ + +
\
+ +
|
+
\
(27)
) (
) (
2
2
2
2
3
2
2
3
2
E
E
E
F
X p c c c s s
X
p c c s s c z c s
dcq
u
u u
c
=
c
(28)
) (
) (
2
2
2
2
3
2
2
3
2
E
E
E
F
Y p s c c c s
Y
p s c s c c z s s
dsq
u
u u
c
= +
c
+
(29)
2
0
E
F
Z
c
=
c
(30)
( ( )
( )
) ( )
( ) )
( ( )
( )
) ( )
( ) )
2
2
2
1
2
3
1
3
1 1
3 3
1
2
3
1
3
1 1
3 3
E
E
E
E
E
E
F
X p c c c s s
p c c s s c z c s
dcq p s c c c s p
s c s c c z s s
Y p s c c c s
p s c s c c z s s
dsq p c c c s s p
c c s s c z c s
u
u u
u
u u
u
u
u
u u
c
=
c
|
\
+ +
+
+
|
\
(31)
( ( )
( ) )
)
( ( )
( ) )
2
2
2
1
2
3
1
3
1 1
3 3
1 1
2
3 3
1 1
3 3
E
E
E
E
E
E
F
X p c c c s s
p c c s s c z c s dcq
pc s c pc s s z c c
Y p s c c c s p
s c s c c z s s dsq
ps s c ps s s z s c
u
u
u u
u u u
u
u u
u u u
c
=
c
|
+
\
+
+
| |
|
\ .
(32)
( ( )
( ) )
( )
( ))
( ) ( )
) ( )
( ))
2
2
2
1
2
3
1
3
1 1
3 3
1
2
3
1
3
1 1
3 3
E
E
E
E
F
X p c c c s s
p c c s s c z c s dcq
p c c s s c p
c c c s s Y p
s c c c s p s c s c c
z s s dsq p s c s c c p
s c c c s
u
u u
u
u
u u
u u
u
c
=
c
|
\
|
+ +
\
+ +
|
+
\
(33)
) (
) (
2
3
2
2
3
4
2
3
2
E
E
E
F
X p c c c s s
X
p c c s s c z c s
dcq
u
u u
c
= +
c
(34)
) (
) (
3
3
2
2
3
4
2
3
2 2
E
E
E
F
Y p s c c c s
Y
p s c s c c z s s
p dsq
u
u u
c
= + +
c
+
(35)
3
0
E
F
Z
c
=
c
(36)
( ( )
( )
) ( )
( ) )
( ( )
( )
) ( )
( ) )
3
3
3
1
2
3
2
3
1 2
3 3
1
2
3
2
3
1 2
3 3
E
E
E
E
E
E
F
X p c c c s s
p c c s s c z c s
dcq p s c c c s p
s c s c c z s s
Y p s c c c s
p s c s c c z s s p
dsq p c c c s s p
c c s s c z c s
u
u u
u
u u
u
u
u
u u
c
= +
c
|
+
\
+ +
+ +
+ +
|
+
\
(37)
( ( )
( ) )
)
( ( )
( ) )
3
3
3
1
2
3
2
3
1 2
3 3
1 2
2
3 3
1 2
3 3
E
E
E
E
E
E
F
X p c c c s s
p c c s s c z c s dcq
pc s c p c s s z c c
Y p s c c c s p
s c s c c z s s dsq
ps s c ps s s z s c
u
u
u u
u u u
u
u u
u u u
c
= +
c
|
+ +
\
+ +
+
| |
+
|
\ .
(38)
( ( )
( ) )
( )
( ))
( ) ( )
) ( )
( ))
3
3
3
1
2
3
2
3
1 2
3 3
1
2
3
2
3
1 2
3 3
E
E
E
E
F
X p c c c s s
p c c s s c z c s dcq
p c c s s c p
c c c s s Y p
s c c c s p s c s c c
z s s p dsq p s c s c c p
s c c c s
u
u u
u
u
u u
u u
u
c
= +
c
|
+
\
|
+ +
\
+ + +
|
+ +
\
(39)
4 4 4
0
E E
F F F
X Y
c c c
= = =
c c c
(40)
4
1
E
F
Z
c
=
c
(41)
4
2 1
3 3
E
F
pc c pc s z s u u u
u
c
= +
c
(42)
4
2 1
3 3
F
ps s ps c u u
c
=
c
(43)
5 5 5
0
E E
F F F
X Y
c c c
= = =
c c c
(44)
5
1
E
F
Z
c
=
c
(45)
5
1 1
3 3
E
F
pc c pc s z s u u u
u
c
= +
c
(46)
4
2 1
3 3
F
ps s ps c u u
c
=
c
(47)
6 6 6
0
E E
F F F
X Y
c c c
= = =
c c c
(48)
6
1
E
F
Z
c
=
c
(49)
6
1 2
3 3
E
F
pc c pc s z s u u u
u
c
= + +
c
(50)
6
1 2
3 3
F
ps s ps c u u
c
= +
c
(51)
5. RESULTS OF THE KINEMATIC
SIMULATION
The graphical data from the next figures was
obtained using the software package Matlab.
For the simulation, the following
geometrical parameters were chosen:
1 1
1
2 2 2
3 3 3
' ' '
i i i
i i i
1 2 3
1 2 3
A A
A
A A A
A A A
E E E
B 1 B B i 3
B B B
d d d d 0.058[m]
e e e e 0.109[m]
x p, y 0, z 0
x 0, y 0, z 0
x 0, y p, z 0
p p
x , y , z h 0.04[m]
3 3
X X p , Y Y , Z Z q
p 0.01[m]
+
= = = =
= = = =
= = =
= = =
= = =
= = = =
= = = = +
(52)
Also it needs to be mentioned that the
maximum speed was chosen to be 0.01 [m/s]
and the maximum acceleration was chosen
0.005 [m/s
2
].
The results for a linear trajectory of the end-
effector with the followind data is presented in
figure 2:
- the starting point is A(0.120, 0.140, 0.150)
- the end point is B(0.140, 0.130, 0.130)
Where A and B are two arbitrary points
contained in the workspace.
Figure 2 presents the movements, velocities
and accelerations profiles for the end-effector,
respectively active joints.
Fig. 2. Recrob Linear trajectory in space
6. WORKSPACE OF RECROB
As the reachable locations of an end-effector
reference point are dependent on its
orientation, a complete representation of the
workspace should be embedded in a six-
dimensional space, of witch graphical
illustration for an intuitive interpretation is not
possible [20].
Out of the many types of workspaces, the
constant orientation workspace was chosen.
The constant orientation workspace represents
the set of all possible locations that can be
reached by the end-effector reference point
with a specific orientation.
Figure 3 presents the workspace of Recrob
with the orientation: 5 , 10 , 4 u = = + =
.
Fig. 3. Recrob Constant orientation workspace
In figure 4 it is represented a section in the
constant orientation workspace; the section is
parallel with the Z plane.
Fig. 4. Recrob Constant orientation workspace section
parallel with the Z plane
The workspace presented in figure 3 and 4
was programmed using the package software
Matlab.
5. SINGUARITY ANALYSIS OF RECROB
5.1 Singularity points type I
This type of singularity occurs when the B
matrix (13) looses rank. In this case the robot
blocks loosing one or more degrees of freedom.
For the command of the robot this point need to
be eliminated from the working area.
det(B) 0 = (53)
The B matrix takes the following form:
1
1
2
2
3
3
4
4
5
5
6
6
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
F
q
F
q
F
q
B
F
q
F
q
F
q
c (
(
c
(
c (
(
c
(
( c
(
c
(
=
(
c
(
c
(
(
c
(
c
(
(
c
(
c
(
(54)
The determinant of B can be written as:
6
1
det( ) , 1, , 6
i
i i
F
B i
q
=
c
= =
c
[
(55)
Equation (55) leads to:
( ) s( ) ( ) c( ) 0
1, 2, 3
Ai Bi i Ai Bi i
X X q Y Y q
i
=
=
(56)
If relation (56) is divided by cq
i
:
Ai Bi
i
Ai Bi
Y Y
tg(q ) , i 1, 2, 3
X X
= =
(57)
If in equation (57)
Ai Bi
X X = (witch means
that the segment B
i
D
i
is collinear with the
segment D
i
A
i
), then the robot is in a singular
point type I. In figure 1, it can be seen that this
occurs when:
, 1, 2, 3 = =
i
i u t
(58)
5.2 Singularity points type II
Singularity points type II appear when the
determinant of A matrix (12) looses rank. In
this case, the mobile platform can move, even if
the actuators are fixed the robot gains one ore
more degrees of freedom.
det(A) 0 = (59)
The A matrix takes the following form, after
computing the partial derivates in it:
1 1 1 1 1
2 2 2 2 2
3 3 3 3 3
4 4
5 5
6 6
0
0
0
0 0 1 0
0 0 1 0
0 0 1 0
E E
E E
E E
F F F F F
X Y
F F F F F
X Y
F F F F F
X Y
A
F F
F F
F F
u
u
u
u
u
u
c c c c c (
(
c c c c c
(
c c c c c (
(
c c c c c
(
( c c c c c
(
c c c c c
(
=
(
c c
(
c c
(
(
c c
(
c c
(
(
c c
(
c c
(60)
Having some zeroes and ones, the
determinant of A matrix can be further
decomposed:
1 1 1
2 2 2
3 3 3
5 6 6 5 6 6 4 4
det( )
c c c
c c c
c c c
=
c c c
c c c
c c c
( c c | c | | c c | c c c | | | |
( | | | |
c c c c c c c c
\ . \ . \ . \ .
E E
E E
E E
F F F
X Y
F F F
A
X Y
F F F
X Y
F F F F F F F F
u u u u
(61)
The next notations are made:
1 1 1
2 2 2
3 3 3
c c c
c c c
c c c
=
c c c
c c c
c c c
E E
E E
E E
F F F
X Y
F F F
M
X Y
F F F
X Y
(62)
5 6 6 5 6 6 4 4
c c | c | | c c | c c c | | | |
=
| | | |
c c c c c c c c
\ . \ . \ . \ .
F F F F F F F F
N
u u u u
(63)
To see if A looses rank or not, either M=0,
or N=0.
Case 1.
0 N = (64)
In this case, due to the long expressions of
the partial derivates, a program was made to
determine the zeroes of the equation. This
program was developed in Maple 12 Package
Software.
After the reduction of terms it results:
2
0 p c s u u = (65)
Equation (30) equals to zero when:
0, ,
2
t
u t =
(66)
Case 2.
0 M = (67)
For the same reasoning that was used in case
1, the long expression containing the partial
derivates was reduced using Maple, yet no
solutions were found.
The values (66) represent the only values for
witch matrix A looses rank.
It is very important to mention that u (the
rotation around the OY axis and one of the
Euler angles) from equation (66) is different
from
i
u witch represents the angle between the
B
i
D
i
segment and D
i
A
i
segment.
5.3 Singularity points type III
The last type of singularity that can occur is
when both the determinants of the two matrixes
are null.
det( ) 0 det( ) 0 A and B = = (68)
Equation (68) can never be true since the
two determinants have different roots.
6. CONCLUSIONS
In this paper there was presented Recrob, as
part of the family of robots called
reconfigurable robots. The kinematics,
workspace and singular points of this robot
were also presented.
As future works there can be mentioned the
modeling of the reconfiguration stages of this
robot and the dynamic model.
7. ACKNOWLEDGEMENTS
This paper was supported by the project
PRODOC project co-funded by the European
Social Fund through the Sectorial Operational
Program Human Resources 2007-2013.
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Cinematica, Spatiul de lucru si analiza singularitatilor unui nou robot parallel reconfigurabil
Robotii reconfigurabili sunt mecanisme capabile sa realizeze diferite aplicatii industriale, folosind aceleasi elemente
ale robotului. Diferite configuratii ale acestor roboti implica diferite grade de libertate si diferite spatii de lucru.
Lucrarea de fata incepe prin a prezenta stadiul actual el cercetarilor in acest domeniu si continua prin a prezenta
Recrob robotul present in aceasta lucrare, cinematica, spatial de lucru si analiza singularitatilor ale acestuia.
Modelele matematice prezentate aici sunt facute pentru cazul general in care robotul are 6 grade de libertate.
Posibilitatile de reconfigurare sunt de asemenea prezentate.
Dorin-Bogdan LEE, Phd. Student, Technical University of Cluj-Napoca, Department of
Mechanical Engineering and Computer Programming, dorinlese@yahoo.com, 0264401684,
Memorandumului 28, RO-400114
Nicolae PLITEA, Corresponding Author Prof. Dr. Ing., Technical University of Cluj-Napoca,
Department of Mechanical Engineering and Computer Programming, plitea@rdslink.ro,
0264401684, Memorandumului 28, RO-400114
TECHNICAL UNIVERSITY OF CLUJ-NAPOCA
ACTA TECHNICA NAPOCENSIS
Series: Applied Mathematics and Mechanics
Vol. 54, Issue III, 2011
TASK SPACE DYNAMICS OF A 6 DOF PARALLEL RECONFIGURABLE
ROBOT
Nicolae PLITEA, Dorin-Bogdan LEE
Abstract: Reconfigurable robotic systems can change their geometry, their mobility degree and be
default, their workspace and their applicability. This type of robots was developed due to the practical
need for more flexible systems that can cope with market changes better. This paper presents the inverse
dynamic model of Recrob a parallel reconfigurable robot. This model is obtained, using the virtual
work method. The paper ends with some simulation results and some conclusions. Key words: parallel
robot, reconfiguration, reconfigurability, design, task space dynamics, inverse dynamics, virtual work.
1. INTRODUCTION
Reconfigurable robotics is a relatively new
domain in the robotics area. There are some
works in this field of interest. The most
important are presented in this paragraph.
The robotic structure whose dynamic model
is here presented is contained in the pending
patent [1]. This paper continues the work
presented in [2] where the kinematics model is
established. Representative work in this area is
made by Chen and Dash in [3], [4] whose
works transcends that of serial or parallel robots
because their reconfigurable robot can be
assembled into either a serial, or a parallel
configuration. Reconfigurable tripod based
robots are introduced in [5] and [6]. Some of
the robots links are adjustable, hence the
structures reconfigurability.
A new family of parallel reconfigurable
robots is proposed by Gogu in [7]. The
structure, called Isogliden-TaRb can have up to
5 degrees of freedom witch are a combination
of maximum 3 independent translations and 2
rotations. The reconfiguration is obtained by
blocking several actuators without any change
in the architecture of the robot.
Other parallel reconfigurable machines are
developed by Negri in [8], or by Choi who
studies in [9] a reconfigurable planar parallel
robot.
Other similar works on parallel
reconfigurable robots have been made in [10],
[11], [12], [13], [14].
The dynamic analysis of robots that have a
high degree of freedom (five or six) require a
long computing time, due to the complex
equations. In the literature there are a few
methods for solving the inverse dynamics. For
example, the Principle of Virtual Work is used
by Tsai in [15], for solving the inverse
dynamics of a Stewart-Gough platform. For the
same platform Dasgupta uses in [16] a Newton-
Euler formulation for the inverse dynamics.
The virtual displacement and the dAlembert
principle were used in [17] to achieve a static
and dynamic analysis of a 4 DOF parallel
manipulator.
A generalized dynamic model for parallel
robots using the first order Lagrange equations
on the basis of equivalent masses is provided in
[18].
The next sections of this paper will be
organized as follows: section 2 will present a
short description of Recrob the robot under
study, section 3 will present the robot kinematic
model. Section 4 is reserved to the inverse
dynamical model of the robot, while section 5
presents some numerical results of a simulation
that was made using the package software
Matlab. Section 6 presents some conclusions
and future work.
2. DESCRIPTION OF RECROB
Fig. 1. Recrob kinematic scheme
The parallel structure presented in fig. 1.
presents the kinematic scheme of the 6-DOF
Recrob. The robot consists of three kinematic
chains for end-effector guiding, having the
active joints , 1, 6
i
q i = . The three kinematic
chains are identical, each of them having one
rotational motor (i=1, 2, 3), which rotates a
spline shaft (where the B
i
D
i
horizontal arm is
mounted), and one linear motor (i=1, 2, 3),
which translates the proximal rotational joint
along the Z axis. The stators of the linear
motors are mounted on three vertical columns.
The three kinematic chains connect the robot
base to the mobile platform through the A
i
D
i
horizontal arms (i=1,2,3) with the help of three
passive spherical joints located in Ai points
(i=1,2,3). There are also three passive rotational
joints (located in D
i
, i=1,2,3) between B
i
D
i
horizontal arms and A
i
D
i
horizontal ones. The
three vertical columns form a right triangle
' ' '
1 2 3
B B B , where
' ' ' '
1 2 2 3
B B B B . The positioning and
orientation of the parallel robot in the Cartesian
space are achieved through the combined
motion of six motors.
3. KINEMATICS
The inverse and direct kinematics model was
extensively described in [19], in this paper only
the closure equations regarding the driving
coordinates and the end-effector coordinates are
presented. The two Jacobian matrices A and B
are also presented in [19].
3.1 Inverse geometric model
In the inverse geometric model [18], the
generalized coordinates of the end-effector
, , , , ,
E E E
X Y Z u are given and the driven
coordinates
1 2 6
, ,..., q q q of the robot are
computed. The resulting equations for
computing the driving coordinates are
presented below, but are not proved here
because they are not the objective of this paper.
3
, 1, 2, 3
i Ai
q Z i
+
= = (1)
2 2 2
arctan 2( , ) tan 2( , )
1, 2, 3
i i i i i i i
q c a b c a a b
i
= +
=
(2)
Where:
i Ai Bi
a X X = (3)
i Ai Bi
b Y Y = (4)
2 2 2 2
( ) ( )
2
Ai Bi Ai Bi i i
i
i
X X Y Y d e
c
d
+ +
=
(5)
The coordinates with respect to the fixed
coordinate system are:
1, 2, 3
i i
i i
i i
A A E
E
A E A E
E
A A E
X x x
X c c c
Y Y c c c y y
c c c Z
Z z z
i
o o o
| | |
( (
' '' ''' ( (
( (
( (
' '' ''' = +
( (
( (
( (
( ( ' '' '''
( (
=
(6)
The rotation matrix used in [6], represents
the rotation matrix in case of Z
Y
*
z
*
Euler
angles.
3.2 Direct geometric model
In the direct geometric model, the driving
coordinates
1 2 6
, ,..., q q q are given, and the end-
effectors coordinates , , , , ,
E E E
X Y Z u are
computed.
The implicit system of functions for solving
the direct geometric model is a nonlinear
system of functions (6), thus a numerical
approach is best suited for solving it.
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( )
2
2 2
3
3
[ ' ''
''' ] [ '
'' ''' ] 0
' ''
''' 0
1, 2, 3
i E Ai E Ai E
Ai E Di E Ai E
Ai E Ai E Di i
i E Ai E Ai E
Ai E i
F X x x c y y c
z z c X Y x x c
y y c z z c Y e
F Z x x c y y c
z z c q
i
o o
o |
| |
+
+
+ + +
+ + +
+ =
+ + +
(7)
where:
' ''
'''
' ''
'''
' '' '''
c c c c c c c c
c c s
s s s c
c s c c c s c s
c s s
c s c c
c s c c s s c c
o u o u
o u
| u | u
| u
u u u
= =
=
= + = +
=
+ +
= = =
(8)
4. TASK SPACE DYNAMICS
As it was stated in the first section of this
paper, this work presents the inverse dynamic
model of a 6 DOF parallel robot. In order to
have a better computing time the rods existent
in the robots structure are considered
homogenous and the friction forces are not
taken into consideration. Starting from the
principle of lumped masses, 23 equivalent
masses have been obtained, whose distribution
is described in fig. 2 and 3.
Fig. 2. Mass distribution for Recrob
The lumped masses
*
, 1, 23
i
m i = will be next
determined. The lumped masses from
1 2 3
, , M M M will be:
* * *
1 1 2 2 3 3
, , m m m m m m = = = (9)
The masses lumped in
1 2 3
, , B B B of the
actuation elements (the linear motors and the
spline shafts) that move along the
' ' ' ' ' '
1 1 2 2 3 3
, , B Z B Z B Z axes are:
1 2 3
' ' '
4 5 6
, ,
B B B
m m m m m m = = = (10)
The homogeneous rods
1 1 2 2 3 3
, , B D B D B D that
have the masses
7 8 9
, , m m m with the center of
gravity in
7 8 9
, , C C C will be each replaced with
three lumped masses located in
1 1 7 2 2 8 3 3 9
, , ; , , ; , , A B C A B C A B C .
1 1 7
2 2 8
3 3 9
7
7
8
8
9
9
2
,
6 3
2
,
6 3
2
,
6 3
B D C
B D C
B D C
m
m m m m
m
m m m m
m
m m m m
= = =
= = =
= = =
(11)
The lumped masses located in
1 2 3
, , B B B
result from (10) and (11).
1 1
2 2
3 3
* '
4
* '
5
* '
6
B B
B B
B B
m m m
m m m
m m m
= +
= +
= +
(12)
The lumped masses
* * *
7 8 9
, , m m m with the
mass center in
7 8 9
, , C C C of the rods
1 1 2 2 3 3
, , B D B D B D having the lengths
1 2 3
, , d d d are:
* * *
7 7 8 8 9 9
2 2 2
, ,
3 3 3
m m m m m m = = = (13)
The masses
10 11 12
, , m m m of the homogeneous
rods
1 1 2 2 3 3
, , D A D A D A with the mass centers in
C
10
, C
11
, C
12
will be each replaced with three
lumped masses in:
1 10 1 2 11 2 3 12 3
, , ; , , ; , , D C A D C A D C A .
1 1 10
2 2 11
3 3 12
10
10
11
11
12
12
2
,
6 3
2
,
6 3
2
,
6 3
D A C
D A C
D A C
m
m m m m
m
m m m m
m
m m m m
= = =
= = =
= = =
(14)
The lumped masses
* * *
10 11 12
, , m m m from the
points
10 1 11 2 12 3
, , M D M D M D are determined
with the next relations:
1 1
2 2
3 3
* ' 7 10
10
* ' 8 11
11
* ' 9 12
12
6 6
6 6
6 6
D D
D D
D D
m m
m m m
m m
m m m
m m
m m m
= + = +
= + = +
= + = +
(15)
For ease of the dynamic model, the mobile
platform initially designed with a triangular
shape is now made of homogeneous rods whose
ends form the default triangle. A detail
representation of the mobile platform and its
lumped masses is represented in fig. 3.
Fig. 2. Mobile platform mass distribution
The three lumped masses
* * *
16 17 18
, , , m m m from
the points
16 17 18
, , M M M are:
* 10
16
* 11
17
* 12
18
6 6
6 6
6 6
m m
m
m m
m
m m
m
= +
= +
= +
(16)
Where m is the mass of one rod of the three
that compose the mobile platform. The lumped
masses situated in the mass center of these
three rods are:
* * *
19 20 21
2
3
m m m m = = = (17)
The mass of the gripper (
d
m ) and the mass
of the manipulated object are lumped in
23
M :
*
23 d o
m m m = + (18)
Next, the coordinates of the lumped masses
above described are determined:
The gyration radius corresponding to the
three columns are:
3 1 2
1 2 3
1 2 3
, ,
I I I
i i i
m m m
A A A
A A A
= = = (19)
Where
1 2 3
, , I I I
A A A
are the moments of inertia
of the bodies 1, 2 and 3 with respect to the axes
' ' ' ' ' '
1 1 2 2 3 3
, , B Z B Z B Z .
The coordinates of the lumped masses are:
1 1
2 2
3 3
1 1 1 1 1
2 2 2 2 2
3 3 3 3 3
cos( ), sin( ),
2
cos( ), sin( ),
cos( ), sin( ),
2
l
X i q Y i q Z
X i q Y i q Z l
l
X i q Y i q Z
A A
A A
A A
= = =
= = =
= = =
(20)
1
3
4 4 4 4
5 5 5 5
'
6 6 6 6
, 0,
0, 0,
0, ,
B
B
X X Y Z q
X Y Z q
X Y Y Z q
= = =
= = =
= = =
(21)
1
'
3
1 1
7 1 7 1 7 4
8 2
8 2 8 2 8 5
3
9 3 9 3 9 6
cos( ), sin( ),
2 2
cos( ), sin( ),
2 2
cos( ), sin( ),
2
B
B
d d
X X q Y q Z q
d d
X q Y q Z q
d
X q Y Y q Z q
= + = =
= = =
= = + =
(22)
1
3
10 1 1 10 1 1 10 4
11 2 2 11 2 2 11 5
12 3 3 12 3 3 12 6
cos( ), sin( ),
cos( ), sin( ),
cos( ), sin( ),
B
B
X X d q Y d q Z q
X d q Y d q Z q
X d q Y Y d q Z q
= + = =
= = =
= = + =
(23)
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3
13 13 13
14 14 14
15 15 15
1 1 1
; ;
2 2 2
1 1 1
; ;
2 2 2
1 1 1
; ;
2 2 2
D A D A D A
D A D A D A
D A D A D A
X X X Y Y Y Z Z Z
X X X Y Y Y Z Z Z
X X X Y Y Y Z Z Z
= + = + = +
= + = + = +
= + = + = +
(24)
1 1 1
2 2 2
3 3 3
16 16 16
17 17 17
18 18 18
; ;
; ;
; ;
A A A
A A A
A A A
X X Y Y Z Z
X X Y Y Z Z
X X Y Y Z Z
= = =
= = =
= = =
(25)
The coordinates of the points
i
A , 1, 2, 3 i =
result from the next equation:
i i
i i
i i
A E A E
A E A E
A E A E
c c c c c c
c s
s s s c
X X x x
cs c c s c s
Y Y s s y y
c s c c
Z Z z z
s c s s c
u u
u
u u
u
u u u
(
(
( ( (
( ( ( + +
=
( ( (
( ( (
( ( (
(
(
(26)
i i
i i
i i
A A E
E
A E A E
E
A A E
c c c c c c
c s
s s s c
X x x
X
cs c c s c s
Y Y s s y y
c s c c
Z
Z z z
s c s s c
u u
u
u u
u
u u u
(
(
( ( (
(
( ( ( + +
(
= +
( ( (
(
( ( (
(
( ( (
(
(
(27)
The coordinates of the
22
M point of lumped
mass can be extracted from equation (26):
22 22
22 22
22 22
i i
i i
i i
A A M M
M A A M
M A A M
c c c c c c
c s
s s s c
X x x X
cs c c s c s
Y Y s s y y
c s c c
Z Z z z
s c s s c
u u
u
u u
u
u u u
(
(
( ( ( (
( ( ( ( + +
=
( ( ( (
+ +
( ( ( (
( ( ( (
(
(
(28)
Similarly, the coordinates of the
22
M point
are:
23 23
23 23
23 23
i i
i i
i i
M A A M
M A A M
M A A M
c c c c c c
c s
s s s c
X X x x
cs c c s c s
Y Y s s y y
c s c c
Z Z z z
s c s s c
u u
u
u u
u
u u u
(
(
( ( ( (
( ( ( ( + +
=
( ( ( (
+ +
( ( ( (
( ( ( (
(
(
(29)
Using equations (28) and (25) the coordinates of the
19 20 21
, , M M M points may be determined:
16 22 16 22 16 22
19 19 19
17 22 17 22 17 22
20 19 19
18 22 18 22 18 22
21 19 19
, ,
2 2 2
, ,
2 2 2
, ,
2 2 2
X X Y Y Z Z
X Y Z
X X Y Y Z Z
X Y Z
X X Y Y Z Z
X Y Z
+ + +
= = =
+ + +
= = =
+ + +
= = =
(30)
Having obtained the 23 lumped masses and
their coordinates with respect to the fixed
coordinate system, we can detail the relations
of the inverse dynamic model.
For the inverse dynamic model, the
generalized coordinates are given and the
forces and torques from the driving joints are
computed.
( ), ( ), ( )
( ), ( ), ( )
E E E E E E
X X t Y Y t Z Z t
t t t u u
= = =
= = =
(31)
1 1 2 2 3 3
4 4 5 5 6 6
, , ,
, ,
M M M
F F F
t t t
t t t
= = =
= = =
(32)
In order to solve the dynamic algorithm, the
mobile elements of the robot are replaced with
an equivalent system of lumped masses
* * *
1 2 23
, , ... , m m m in the points , 1, 2, ... , 23
i
M i = ,
having the coordinates , , , 1, 2, ... , 23
i i i
X Y Z i = .
The next notations are made:
| |
1 2 3 4 5 6
T
q q q q q q q = - the vector of
active joints coordinates;
| |
1 2 3 4 5 6
T
q q q q q q q o o o o o o o = - the vector
of virtual displacements of the active joints
positions;
| |
1 2 3 4 5 6
T
q q q q q q q = - the vector of active
joints speeds;
| |
1 2 3 4 5 6
T
q q q q q q q = - the vector of active
joints accelerations;
| |
T
P E E E
X X Y Z u | = - the vector of the
generalized coordinates of the end-effector;
| |
T
Mi i i i
X X Y Z = - 1, 2, ... 23 i = - the vector of the
Cartesian coordinates of points
i
M of lumped masses
*
i
m dynamic equivalent with the system of N mobile
elements;
T
P E E E
X X Y Z u |
(
=
- the vector of
velocities for the E point;
T
P E E E
X X Y Z u |
(
=
- the vector of
accelerations for the E point;
| |
T
Mi i i i
X X Y Z o o o o = - the vector of virtual
displacements of the
i
M points coordinates;
T
Mi i i i
X X Y Z ( =
- the vector of speeds for
i
M
points;
T
Mi i i i
X X Y Z ( =
- the vector of accelerations for
i
M points;
| | | |
1 2 3 4 5 6 1 2 3 1 2 3
T T
M M M F F F t t t t t t t =
- the vector of active forces/moments;
The virtual work principle was used in order
to obtain the dynamic model for the Recrob
robot with M=6 DOF. The virtual work states
that the sum of virtual torques of the forces and
moments (32), the gravity forces
i
m g ,
1, 2, ... 23 i = and of the inertia forces
i i
ma ,
1, 2, ... 23 i = equals to zero for the virtual
displacements compatible with the constraints.
13
1
( ) 0,
1, 23
i
T T Tr g
M i i
i
W q X T T
i
o o t o
=
+ + =
=
(33)
where
T
q o t is the virtual work of all actuating
forces and moments and
( )
31
1
T Tr g
i i i
i
X T T o
=
+
is the
virtual work of inertia forces and gravitation
forces corresponding to the equivalent system
(with 23 lumped masses).
| |
1
2
3
1 2 3 4 5 6
4
5
6
1 1 2 2 6 6
...
T
q q q q q q q
q q q
t
t
t
o t o o o o o o
t
t
t
t o t o t o
(
(
(
(
= =
(
(
(
(
(
= + + +
(34)
The matrix of inertia forces is given by the
equation:
* *
* *
* *
0 0
0 0
0 0
i i i i
Tr
i i i i i
i i i i
m X m X
T m Y m Y
m Z m Z
( ( (
( ( (
= =
( ( (
( ( (
(35)
The matrix of the gravitation forces (which
act in the negative sense of Z axis):
*
0
0
g
i
i
T
m g
(
(
=
(
(
(36)
In the general case, the coordinates of points
i
M , having the coordinates , ,
i i i
X Y Z can
expressed with respect to the generalized
coordinates of the robot:
1 2 3 4 5 6
, , , , , q q q q q q and to
the generalized coordinates of the end-effector
, , , , ,
E E E
X Y Z u .
1 2 3 4 5 6
1 2 3 4 5 6
1 2 3 4 5 6
( , , , , , , , , , , , )
( , , , , , , , , , , , )
( , , , , , , , , , , , )
1, 23
i i E E E
i i E E E
i i E E E
X X q q q q q q X Y Z
Y Y q q q q q q X Y Z
Z Z q q q q q q X Y Z
i
u
u
u
=
=
(37)
But:
( , , , , , ), 1, 23
i i E E E
q q X Y Z i u = = (38)
Using (37) and (38) the Cartesian
coordinates of points
i
M can be written as:
( , , , , , )
( , , , , , )
( , , , , , )
i i E E E
i i E E E
i i E E E
X X X Y Z
Y Y X Y Z
Z Z X Y Z
u
u
u
=
1, 23 i = (39)
After the derivation with respect to time of
the equation (37) results:
E i i i i i i
E E E E
i
i i i i i i E
i
E E E
i
i i i i i i
E E E
X X X X X X X
X Y Z Y
X
Y Y Y Y Y Y Z
Y
X Y Z
Z
Z Z Z Z Z Z
X Y Z
u
u
u
u
(
(
c c c c c c
(
(
c c c c c c
(
(
(
(
(
c c c c c c (
(
= (
(
c c c c c c (
(
(
(
(
c c c c c c
(
(
(
c c c c c c (
1, 23 i =
(40)
The following notations can be made:
i
i
i M
i
X
Y X
Z
(
(
=
(
(
1, 23 i = (41)
i
i
i M
i
X
Y X
Z
(
(
=
(
(
1, 23 i = (42)
i
i i i i i i
E E E
M
i i i i i i
i
P E E E
i i i i i i
E E E
X X X X X X
X Y Z
X
Y Y Y Y Y Y
J
X X Y Z
Z Z Z Z Z Z
X Y Z
u
u
u
(
c c c c c c
(
c c c c c c
(
(
c
c c c c c c
(
= =
c c c c c c c (
(
c c c c c c
(
(
c c c c c c
1, 23 i = (43)
Using the notations (41), (42) and (43),
equation (40) takes the following form:
i
i
i
M i P
M
M P
P
X J X
X
X X
X
=
c
=
c
1, 23 i = (44)
After the derivation of the above equation it
results:
i
M i P i P
X J X J X = +
1, 23 i = (45)
The next notations can be made:
i
i
M i
i
X
X Y
Z
(
(
=
(
(
1, 23 i = (46)
E
E
E
P
X
Y
Z
X
(
(
(
(
= (
(
(
(
(
1, 23 i = (47)
Mi
i
P
i i i i i i
E E E
i i i i i i
E E E
X d
J
dt X
X X X X X X d d d d d d
dt X dt Y dt Z dt dt dt
Y Y Y Y Y Y d d d d d d
dt X dt Y dt Z dt dt dt
Z d
dt
u
u
| | c
= =
|
c
\ .
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
c
i i i i i i
E E E
Z Z Z Z Z d d d d d
X dt Y dt Z dt dt dt u
(
(
(
(
(
(
(
(
| | | | | | | | | | c c c c c | |
(
| | | | | |
c c c c c c ( \ . \ . \ . \ . \ . \ .
1, 23 i = (48)
Equation (45) takes the form:
E i i i i i i
E E E E
i
i i i i i i E
i
E E E
i
i i i i i i
E E E
i
E
X X X X X X X
X Y Z Y
X
Y Y Y Y Y Y Z
Y
X Y Z
Z
Z Z Z Z Z Z
X Y Z
X d
dt X
u
u
u
u
(
( c c c c c c
(
(
c c c c c c
(
(
(
(
(
c c c c c c (
(
= + (
(
c c c c c c (
(
(
(
(
c c c c c c
(
(
( c c c c c c (
| | c
|
c
\ .
i i i i i
E E
i i i i i i
E E E
i i i
E E E
X X X X X d d d d d
dt Y dt Z dt dt dt
Y Y Y Y Y Y d d d d d d
dt X dt Y dt Z dt dt dt
Z Z Z d d d
dt X dt Y dt Z
u
u
| | | | | | | | c c c c c | |
| | | | |
c c c c c
\ . \ . \ . \ . \ .
| | | | | | | | | | c c c c c c | |
| | | | | |
c c c c c c
\ . \ . \ . \ . \ . \ .
| | | | | c c c
| |
c c c
\ . \ . \
E
E
E
i i i
X
Y
Z
Z Z Z d d d
dt dt dt
u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
| | | | | c c c | |
(
(
| | | |
(
c c c ( \ . \ . \ . .
(49)
The derivates with respect to time from the (49) equation
are:
2 2 2 2
2
2 2
i i i i i
E E E
E E E E E E E
i i
E E
X X X X X d
X Y Z
dt X X Y X Z X X
X X
X X
u
u
| | c c c c c
= + + + +
|
c c c c c c c c
\ .
c c
+
c c c c
(50)
2 2 2 2
2
2 2
i i i i i
E E E
E E E E E E E
i i
E E
X X X X X d
X Y Z
dt Y Y X Y Z Y Y
X X
Y Y
u
u
| | c c c c c
= + + + +
|
c c c c c c c
\ .
c c
+
c c c c
(51)
2 2 2 2
2
2 2
i i i i i
E E E
E E E E E E E
i i
E E
X X X X X d
X Y Z
dt Z Z X Z Y Z Z
X X
Z Z
u
u
| | c c c c c
= + + + +
|
c c c c c c c
\ .
c c
+
c c c c
(52)
2 2 2 2
2
2 2
i i i i i
E E E
E E E
i i
X X X X X d
X Y Z
dt X Y Z
X X
u
u
| | c c c c c
= + + + +
|
c c c c c c c
\ .
c c
+
c c c c
(53)
2 2 2 2
2 2
2
i i i i i
E E E
E E E
i i
X X X X X d
X Y Z
dt X Y Z
X X
u u u u u
u
u u
c c c c c | |
= + + + +
|
c c c c c c c c
\ .
c c
+
c c c
(54)
2 2 2 2
2 2
2
i i i i i
E E E
E E E
i i
X X X X X d
X Y Z
dt X Y Z
X X
u
u
u
| | c c c c c
= + + + +
|
c c c c c c c c
\ .
c c
+
c c c
(55)
For the other derivates with respect to time
of the coordinates ,
i i
Y Z , 1, ... , 23 i = , can be
computed in a similar way.
The vector of virtual displacement of points
i
M , 1, ... , 23 i = will have the next expression:
i
i
i
E i i i i i i
E E E E
M
E i i i i i i
M
E E E
M
i i i i i i
E E E
X X X X X X X
Y X Y Z
X
Z Y Y Y Y Y Y
Y
X Y Z
Z
Z Z Z Z Z Z
X Y Z
o
o u
o
o
o
o u
o
ou
u o
(
( c c c c c c
(
(
c c c c c c
(
( (
(
( (
c c c c c c
(
=
( (
c c c c c c (
( (
(
( (
c c c c c c
(
(
(
c c c c c c (
1, ... , 23 i =
(56)
The above equation can be put under the
compact form:
i
M i P
X J X o o = 1, ... , 23 i = (57)
From expression (57) results:
i
T T T
M P i
X X J o o = 1, ... , 23 i = (58)
Equation (58) is equivalent to:
i i i
E E E
i i i
T
E E E E
T
E i i i
i
E E E E
i
i i i
i
i i i
i i i
X Y Z
X X X
X Y Z
X Y Y Y
Y X Y Z
X
Z Z Z Z
Y
X Y Z
Z
X Y Z
X Y Z
o
o
o
o
o
o
o
ou
o
u u u
c c c (
(
c c c
(
( c c c
(
c c c (
(
(
(
c c c
(
( (
(
c c c
( (
=
(
( (
c c c
(
( (
(
c c c
(
(
(
c c c
(
(
c c c (
(
c c c
(
c c c
(
(59)
Using equation (59), the expression of the
virtual work principle takes the form:
( )
23
1
1, 23
T T T Tr g
P i i i
i
W q X J T T
i
o o t o
=
+ +
=
(60)
1 1 1 1 1 1
2 2 2 2 2 2
1
3 3 3 3 3 3 2
3
4 4 4 4 4 4
4
5
5 5 5 5 5
6
E E E
E E E
E E E
E E E
E E E
q q q q q q
X Y Z
q q q q q q
X Y Z
q
q q q q q q q
X Y Z
q
q q q q q q
q
X Y Z
q
q q q q q
q
X Y Z
u
u
o
o
u
o
o
u
o
o
u
c c c c c c
c c c c c c
c c c c c c
c c c c c c
(
(
c c c c c c
(
c c c c c c (
=
(
c c c c c c
(
( c c c c c c
(
c c c c c c
(
c c c c c
5
6 6 6 6 6 6
E
E
E
E E E
X
Y
Z
q
q q q q q q
X Y Z
o
o
o
o
ou
o
u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
c (
(
c c c c c c
(
(
c c c c c c
1, ... , 23 i =
(61)
The next notations are made:
1
2
3
4
5
6
q
q
q
q
q
q
q
o
o
o
o
o
o
o
(
(
(
(
=
(
(
(
(
(
(62)
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3
4 4 4 4 4 4
5 5 5 5 5 5
6 6 6 6 6
q
P
E E E
E E E
E E E
E E E
E E E
E E E
q
J
X
q q q q q q
X Y Z
q q q q q q
X Y Z
q q q q q q
X Y Z
q q q q q q
X Y Z
q q q q q q
X Y Z
q q q q q
X Y Z
u
u
u
u
u
c
= =
c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c c
c c c c c
c c c c
6
q
u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
c
(
(
c c
(63)
With the notations (62) and (63), equation
(61) becomes:
q P
q J X o o = (64)
It results:
T T T
P q
q X J o o = (65)
Using (63) and (64) the expression of the
virtual work becomes:
( )
23
1
0
1, 23
T T T T Tr g
P q P i i i
i
X J X J T T
i
o t o
=
+ + =
=
(66)
It results:
( )
23
1
0
1, 23
T T Tr g
q i i i
i
J J T T
i
t
=
+ + =
=
(67)
If (67) is left multiplied with
( )
1
T
q
J
, it
results:
( ) ( )
23
1
1
0
1, 23
T T Tr g
q i i i
i
J J T T
i
t
=
= + =
=
(68)
5. NUMERICAL RESULTS
Having obtained the expression of the torque
vector, a dynamic simulation was made in the
package software Matlab.
The established geometric parameters for
this simulation are:
1 1
1
2 2 2
3 3 3
' ' '
1 2 3
1 2 3
1
1 3
58[ ]
109[ ]
100[ ], 168[ ]
, 0, 0
0, 0, 0
0, , 0
, , 40[ ]
3 3
, ,
i i i
i i i
A A
A
A A A
A A A
E E E
B B B i
B B B
d d d d mm
e e e e mm
p mm p mm
x p y z
x y z
x y p z
p p
x y z h mm
X X p Y Y Z Z q
+
= = = =
= = = =
= =
= = =
= = =
= = =
= = = =
= = = = +
(69)
The results of a linear trajectory of the end-
effector with the following data is presented in
fig. 3:
- the starting point is A(120 140 150)
- the end point is B(140 130 130)
- the maximum speed of the end effector
was chosen to be 5[mm/s]
- the maximum acceleration of the
endeffector was chosen to be 10[mm/s]
Other constant used for the simulation are:
- the masses of the spline shafts:
1 2 3
0.1132[ ] m m m Kg = = =
- the masses of the liniar motor slides and
respective joints:
4 5 6
0.0594[ ] m m m Kg = = =
- the masses of the B
i
D
i
rods are:
7 8 9
0.048[ ] m m m Kg = = =
- the masses of the D
i
A
i
rods are:
10 11 12
0.0501[ ] m m m Kg = = =
- the mass of the mobile platform:
13
0.09[ ] m Kg =
- the mass of the gripper and the
manipulated mass:
14
0.005[ ] m Kg =
0 1 2 3 4 5
10
5
0
t[s]
q
1
[
m
m
]
0 1 2 3 4 5
0.05
0
t[s]
v
q
1
[
m
m
/
s
]
0 1 2 3 4 5
0.02
0
0.02
0.04
t[s]
a
q
1
[
m
m
/
s
2
]
0 1 2 3 4 5
0.5
0
0.5
t
M
q
1
(
N
)
0 1 2 3 4 5
0.5
0
0.5
1
t[s]
q
2
[
m
m
]
0 1 2 3 4 5
0.02
0.01
0
t[s]
v
q
2
[
m
m
/
s
]
0 1 2 3 4 5
0.02
0
0.02
t[s]
a
q
2
[
m
m
/
s
2
]
0 1 2 3 4 5
2
0
2
t
M
q
2
(
N
)
0 1 2 3 4 5
1
0
1
t[s]
q
3
[
]
0 1 2 3 4 5
0.06
0.04
0.02
0
t[s]
v
q
3
[
/
s
]
0 1 2 3 4 5
0.02
0
0.02
t[s]
a
q
3
[
/
s
2
]
0 1 2 3 4 5
1
0
1
t
M
q
3
(
N
)
0 1 2 3 4 5
170
180
190
t[s]
q
4
[
]
0 1 2 3 4 5
8
6
4
2
0
t[s]
v
q
4
[
/
s
]
0 1 2 3 4 5
4
2
0
2
4
t[s]
a
q
4
[
/
s
2
]
0 1 2 3 4 5
0.01
0
0.01
t
F
q
4
(
N
)
0 1 2 3 4 5
170
180
190
t[s]
q
5
[
]
0 1 2 3 4 5
6
4
2
0
t[s]
v
q
5
[
/
s
]
0 1 2 3 4 5
2
0
2
t[s]
a
q
5
[
/
s
2
]
0 1 2 3 4 5
10
5
0
x 10
4
t
F
q
5
(
N
)
0 1 2 3 4 5
170
180
190
t[s]
q
6
[
]
0 1 2 3 4 5
6
4
2
0
t[s]
v
q
6
[
/
s
]
0 1 2 3 4 5
2
0
2
t[s]
a
q
6
[
/
s
2
]
0 1 2 3 4 5
2
0
2
4
x 10
3
t
F
q
(
N
)
Fig. 3. Task space dynamics simulation results
6. CONCLUSIONS
In this paper, it was presented the task
space dynamics of 6 DOF parallel
reconfigurable robot. Based on the virtual
work principle, the multibody system was
replaced by an dynamically equivalent system
of 23 lumped masses whose coordinates were
computed. An algorithm for finding the forces
and moments from the driving coordinates
was also established. Based on this algorithm
a dynamic simulation was obtained.
7. ACKNOWLEDGEMENTS
This paper was supported by the project
PRODOC project co-funded by the
European Social Fund through the Sectorial
Operational Program Human Resources 2007-
2013.
8. REFERENCES
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Konya, B., Dadarlat, R., Scurtu, I., Sabou,
C., Familie de roboti paraleli cu sase
grade de mobilitate, Patent nr.
A/10013/2011.
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Plitea, N., Inverse and direct geometrical
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st
International
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Architecture design and Optimization of an
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Maximally Regular Parallel Kinematic
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optimization of a reconfigurable parallel
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to Application Requirements, Parallel
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Chemnitz, 2006.
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B., Lese, D., Kinematics and Design of
Two Variants of a Reconfigurable Parallel
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Robots, REMAR, Vol. 22, pp. 524-631,
2009.
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Simnofske, M., Prodan, B., Burish, A.,
Vidrean, A., Modelling of Parallel
Microrobots With Two To Six Degrees Of
Freedom, Acta Technica Napocensis,
2007.
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C., Gyurka, B., Workspace and Singularity
Analysis for a Reconfigurable Parallel
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10th IFTOMM International Symposium
on Science of Mechanisms and Machines,
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Dynamics of a Stewart-Gough
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Dynamic Models for Parallel Robots with
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Dinamica invers a unui robot paralel reconfigurabil cu 6 DOF
Roboii paraleli reconfigurabili sunt sisteme care i pot schimba geometria, gradul de mobilitate i implicit spaiul
de lucru i aplicabilitatea lor. Acest tip de roboi a fost dezvoltat datorit nevoii practice a unor sisteme flexibile care
s poat fac fa schimbrilor frecvente aprute pe pia. Aceast lucrare prezint modelul dinamic invers al
robotului Recrob un robot paralel reconfigurabil. Acest model este obinut folosind principiul lucrului mecanic
virtual. Lucrarea se termin cu prezentarea rezultatelor numerice i a ctorva concluzii.
Nicolae PLITEA, Corresponding Author Prof. Dr. Ing., Technical University of Cluj-Napoca,
Department of Mechanical Engineering and Computer Programming, plitea@rdslink.ro,
0264401684, Memorandumului 28, RO-400114
Dorin-Bogdan LEE, Phd. Student, Technical University of Cluj-Napoca, Department of
Mechanical Engineering and Computer Programming, dorinlese@yahoo.com, 0264401684,
Memorandumului 28, RO-400114