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Kinematic Modeling and Function Generation for Non-linear Curves Using 5R Double Arm Parallel Manipulator

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Abstract

Double arm configuration using parallel manipulator mimic the human arm motions either for planar or spatial space. These configurations are currently lucrative for researchers as it also replaces human workers without major redesign of work-place in industries. Humans’ joint ranges limitation of arms can be resolved by replacement of either revolute or spherical joints in manipulator. Hence, the scope of maximum workspace utilization is prevailed. Planar configuration with five revolute joints (5R) is considered to imitate human arm motions in a plane using Double Arm Manipulator (DAM). Position analysis for tool that can be held in end links of configuration is carried out using Pro/mechanism in Creo® as well as SimMechanics. D–H parameters are formulated and its results derived using developed MATLAB programs are compared with mechanism simulation as well as SimMechanics results. Inverse kinematics model is developed for trajectory planning in order to trace tool trajectory in a continuous and smooth sequence. Polynomial functions are derived for position, velocity and acceleration for linear and non-linear curves in joint space. Analytical results obtained for trajectory planning are validated with simulation results of Creo®.

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Authors and Affiliations

  1. A. D. Patel Institute of Technology, Anand, Gujarat, 388121, India

    Parth Keshavkumar Kamaliya & Yashavant Kumar Dashrathlal Patel

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  1. Parth Keshavkumar Kamaliya
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  2. Yashavant Kumar Dashrathlal Patel
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Correspondence to Parth Keshavkumar Kamaliya.

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Keshavkumar Kamaliya, P., Patel, Y.K.D. Kinematic Modeling and Function Generation for Non-linear Curves Using 5R Double Arm Parallel Manipulator. J. Inst. Eng. India Ser. C 97, 33–40 (2016). https://doi.org/10.1007/s40032-015-0199-4

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  • DOI: https://doi.org/10.1007/s40032-015-0199-4

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