Abstract
Industrial robotic manipulators mostly use revolute or prismatic joints. In this paper, an anti-parallelogram mechanism, referred to as X-joint, is considered as an alternative choice to a revolute joint in the kinematic design of robots. This choice lends itself well to a remote actuation with cables, which contributes to lower inertia. We show that replacing revolute joints with X-joints in a planar 2-dof manipulator improves drastically the size of the workspace in the presence of joint limits. On the other hand, the kinematic analysis becomes significantly more difficult, owing to the much more complicated algebra involved in the input/output equations. The inverse kinematics, the singularities and the workspace optimization are investigated. A tentative design of a 2-X planar linkage is proposed and compared to its 2-R counterpart.
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Acknowledgement
This work was conducted with the support of the French National Research Agency (AVINECK Project ANR-16-CE33-0025).
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Wenger, P., Furet, M. (2021). Kinematic Analysis of a Planar Manipulator with Anti-parallelogram Joints and Offsets. In: Lenarčič, J., Siciliano, B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-030-50975-0_39
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DOI: https://doi.org/10.1007/978-3-030-50975-0_39
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