Kinestatic analysis of serial-parallel cooperative robotic systems
Julio Feller Golin1; Julio Cesar Frantz2; Henrique Simas2
1 IFSC; 2 UFSC
doi:10.20906/CPS/COB-2015-2212
Resumo
Cooperative robotic systems are mostly composed by serial manipulators and, in this scenario, many tasks are successfully performed with two or more manipulators. Although parallel robots are gaining much attention in research in recent decades and its use in industrial applications increasing, few is found in the literature considering the cooperation involving parallel robots. An advantage of such configurations is the precise positioning and stiffness given by a parallel manipulator and the dexterity provided by a serial robot. In this work a planar cooperative robotic system composed by a 3RPR platform and a serial RRR robot is addressed. Besides the kinematics, to properly control the manipulators, forces (wrenches) at the contact workpiece between them and the torques at the actuators level must be considered. The objective of this work is to obtain the kinestatic model of the system, presenting a detailed formulation based on graph and screw theories in a unifed and structured procedure. The formulation derives from previous works of Davies applied to general mechanisms and the use of Assur virtual kinematic chains. An advantage of the procedure is its applicability regardless the type of the robots (serial and/or parallel) since is based on graph analysis of the system.
Palavras-chave: serial robot; parallel robot; cooperation; kinestatic analysis