Abstract
An Exechon robot with offsets between the axes of the joints that connect the legs to the fixed platform is analyzed for the first time. Ideally these axes intersect constituting two universal and one spherical joint. The insertion of imperfections in these universal and spherical joints leads to more complex forward and inverse kinematics which are solved in this paper. It is proved that the equations used for the kinematics of the ideal Exechon robot are no longer applicable when these offsets are added. The constraint system is also obtained and it is found to be different to the one of the ideal case. Finally, the combination of offsets that lead to the largest deviation in the position of the parallel platform is determined.
| Original language | English |
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| Title of host publication | 43rd Mechanisms and Robotics Conference |
| Publisher | American Society of Mechanical Engineers (ASME) |
| Volume | 5A-2019 |
| ISBN (Electronic) | 9780791859230 |
| DOIs | |
| Publication status | Published - 1 Jan 2019 |
| Event | ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States Duration: 18 Aug 2019 → 21 Aug 2019 |
Conference
| Conference | ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 |
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| Country/Territory | United States |
| City | Anaheim |
| Period | 18/08/2019 → 21/08/2019 |