Design, Kinematics and Workspace Analysis of a Novel 4-DOF Kinematically Redundant Planar Parallel Grasping Manipulator
Daniil Petelin,
Alexey Fomin,
Pavel Laryushkin,
Oxana Fomina,
Giuseppe Carbone,
Marco Ceccarelli
Affiliations
Daniil Petelin
Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), Moscow 101000, Russia
Alexey Fomin
Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), Moscow 101000, Russia
Pavel Laryushkin
Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), Moscow 105005, Russia
Oxana Fomina
Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), Moscow 101000, Russia
Giuseppe Carbone
Department of Mechanical, Energy and Management Engineering, University of Calabria, 87036 Rende, Italy
Marco Ceccarelli
LARM2: Laboratory of Robot Mechatronics, University of Rome “Tor Vergata”, 00133 Rome, Italy
This article presents a model of a novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional 4-DOF manipulator, the proposed design includes an extensible platform, which provides kinematic redundancy. This constructive feature is used for grasping. The article discusses the inverse and forward kinematics of the proposed manipulator. The inverse kinematics algorithm provides the analytical relations between the platform coordinates and the driven (controlled) coordinates. The forward kinematics algorithm allows defining different assembly modes of the manipulator. Both algorithms are demonstrated using numerical examples. The article discusses different designs of the manipulator in which its links are placed in one, two, or three layers. Based on these designs, we performed their workspace analyses.
