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Inverse Kinematics and Singularity Analysis For A 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot
Inverse Kinematics and Singularity Analysis For A 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot
Inverse Kinematics and Singularity Analysis For A 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot
ARTICLE
International Journal of Advanced Robotic Systems
DOI: 10.5772/51920
© 2012 Zi et al.; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract This paper addresses the kinematics and simple structure, large workspace, heavy payload, high
graphical representation of the singularity configuration structural stiffness and high acceleration capability [1, 2].
of a hybrid‐driven cable‐suspended parallel robot The inverse kinematics and singularity analysis of
(HDCPR) with three translational degrees of freedom parallel robots (PRs) play an important role in robotics
(DOFs). Applying the closed‐loop vector method and and virtual humans, which is closely related to the
geometric methodology, inverse kinematics of the movement, trajectory planning, real‐time control and
HDCPR needed for singularity analysis is performed. For precision. For the closed‐loop CPRs, when the
the sake of singularity condition calculation within the end‐effector is located in singular configuration, the
reachable workspace, the procedure utilizing analytical kinetostatic behaviour instantaneously changes [3]. It
methodology and gradual search algorithm is presented. may cause serious problems, such as local loss of stiffness,
Simulation results demonstrate the validity of the a decrease in positioning accuracy, sudden undesirable
kinematics and singularity analysis developed. motion, breakdown of robots, etc. [4]. Therefore, it is
essential to conduct in‐depth research into the singularity
Keywords Cable parallel robot, Hybrid‐driven planar of CPRs.
five‐bar mechanism, Inverse kinematics, Singularity
Currently, much research has been carried out on
analysing the singular configuration of PRs, which can be
1. Introduction mainly summarized as three typical methodologies. The
first type is the geometric methodology. Merlet [5,6]
Cable parallel robots (CPRs) have received increasing proposed an exact method of Grasmann’s line geometry.
attention from researchers in the fields of robotics Horin and Shoham [7] showed the Grassmann–Cayley
and virtual humans, due to the particular advantages of Algebra approach to obtain a geometrical interpretation
www.intechopen.com IntInverse
Bin Zi, Xia Wu, Jun Lin and Zhencai Zhu: J Adv Robotic Sy, 2012,
Kinematics Vol. 9, 133:2012
and Singularity Analysis 1
for a 3-DOF Hybrid-driven Cable-suspended Parallel Robot
of the parallel singularities. Based on the second typical singularity analysis is performed based on closed‐loop
methodology, screw theory, the singularities for vector conditions in Section 2. Section 3 describes the
3/6‐Stewart PR and 5‐DOF PRs have been presented by singularity analysis within the workspace of the HDCPR
Huang Zhen, Kong and Gosselin respectively [8‐12]. by using analytical methodology. Simulation results are
Though the geometric methodology and screw theory presented in Section 4. Finally, concluding remarks are
have the advantages of being simple and intuitive, it aims summarized in Section 5.
at PRs with identified structure or special construction.
However, in practical application, it concerns the 2. Inverse Kinematics
operating conditions in the entire reachable workspace of
the PRs. So it is necessary to analyse all of the singularity The schematic sketch of the HDCPR is depicted in Fig.1,
distribution within the workspace. The third type, which consists of the CPR and three groups of 2‐DOF
analytical methodology, is able to compensate for this HDPMs. The local coordinate system (o’x’z’) is
issue faced when dealing with the first two established at the bottom of the HDPM, while the global
methodologies. A comprehensive singularity analysis can coordinate system (OXYZ) is established at the bottom of
be conducted by calculating the determinant of the one cable tower rack. The distance between the origin oi
Jacobian matrix of the PRs. Singularity classification and and O is a. The total length of the entire cable is L0. For
identification methods are carried out to evaluate the each cable, one end is connected to (mounted on) the
Jacobian matrix of the PRs in [13‐15]. Serracin et al. [16] end‐effector G (x,y,z), the other one rolls through a pulley
concentrated on finding the border that separates the fixed on the top of the relative cable tower rack Pi(xi,yi,zi)
positive determinant and negative determinant of the and then is fed into the HDPM, with i=1,2,3. The cable
Jacobian matrix in all the configurations to define a tower racks have the same height h and are placed on the
singular configuration. Cornel Brisan and Akos Csiszar three corners of an equilateral triangle with side length b.
[17] studied the Jacobian matrix rank deficiency of a The distance between each cable tower rack top and the
reconfigurable PR system with a given precision based on end‐effector is Li. It should be noted that the cable is
the singular values decomposition method. However, treated as a massless body with no deformation and the
finding the singularities in all the configurations involves end‐effector is regarded as a point.
huge computation. Differing from the analytical
methodology mentioned above, we combine the
determinant calculation of the factors of the Jacobian
matrix and linear decomposition to simplify calculation.
Moreover, a new procedure using the gradual search
algorithm is proposed to perform the singularities in the
workspace, which is preferable for use in current robotics
and with virtual humans.
Aiming at the 50‐m scaled model of large radio telescopes,
z¢
the authors in [1] focus on dynamic equations and
analysis of the electromechanical coupling the CPR
x¢
system, including actuator dynamics and the wind o¢
induced vibration control of the cable‐supporting Figure 1. Schematic sketch of the HDCPR
structure in a stationary position and the tracking control
of the CPR. The authors also investigate the dynamic
simulation of the hybrid‐driven planar five‐bar parallel
mechanism (HDPM) based on SimMechanics and
tracking control [18]. This paper deals with a 3‐DOF
hybrid‐driven cable‐suspended parallel robot (HDCPR), z¢
combining the HDPMs with the CPR, which is presented
on the basis of theories of mechanism structure synthesis
[19]. The aim of this study is an investigation of
singularity analysis of the HDCPR. For this purpose,
inverse kinematics of the HDCPR is performed using
o¢ x¢
closed‐loop vector conditions and a geometric
methodology. In addition, inverse kinematics and Figure 2. Kinematic model of the HDPM
singularity analysis are based on the motion trajectory of
the HDCPR. The remainder of this paper is organized as The kinematic model of the ith group of the HDPM is
follows: the inverse kinematics of the HDCPR needed for shown in Fig.2. The actuated revolute joint points Ai and
the closed‐loop polygon vector equation of the first group By solving Eq. (6) the forward kinematics equations of the
of the HDPM can be expressed as CPR is as follows
ìï x = ( L 2 - L 2 +(x - x )2 / 2( x - x )
A1 B1 B1C1 A1 E1 E1 D1 D1C1 (1) ïï 1 2 2 1 2 1
ïïí y = ( L 2 - L 2 + ( x - x ) x ) / ( 3( x - x )) (7)
2 3 2 1 2 1
ïï
Assuming that the links have the same density and the ïï z = z - L 2 - ( x - x ) 2 - ( y - y ) 2
centroid is in the centre of links. Let the length of the links ïî 1 1 1 1
be l1, l2, l3, l4, l5 and the angle between links and x’‐axis be
Hence, the inverse kinematics solution for the CPR can be
qi1, qi 2 , qi3 , qi 4 ,0 , respectively. (xic,yic) is the position
written as
coordinates of the joint Ci in the local coordinate system
o’x’z’. Eq. (1) can also be written in the plural form L ( x x )2 ( y y )2 ( z z )2
1 1 1 1
l1ei11 l2 ei12 l3ei13 l4 ei14 l5 x1c y1c i
2 2 2
(2) L2 ( x x2 ) ( y y2 ) ( z z2 ) (8)
2 2
L3 ( x x3 ) ( y y3 ) ( z z3 )
2
2 2 2 2 2
a l1c11 l2 c12 ( L0 L1 )cos1
u2 : 2l4 y1c s14 2l4 ( x1c l5 )c14 l3 2l5 x1c l4 l5 x1c y1c 0 h l s l s ( L L ) sin
(4) 1 11 2 12 0 1 1 (11)
a l3 c13 l4 c14 l5 ( L0 L1 ) cos 1
Therefore, from Eq. (4) the inverse kinematic solution for h l3 s11 l2 s12 ( L0 L1 ) sin1
the HDPM can be expressed as
Hence, the q12 , q13 may be solved by
1 2arctan ( M1 M1 M 2 M 3 M 2 M 3 ) (5)
2 2 2
4 2arctan ( N1 N12 N 2 2 N32 N 2 N3 ) ìïq = 2arctan ( R + R 2 + R 2 - R 2 R - R )
ïï 12 1 1 2 3 2 3
í (12)
ïïq = 2arctan ( S + S 2 + S 2 - S 2 S - S )
where ïî 13 1 1 2 3 2 3
M1 2l1 yc , M2 2l1xc , M3 l22 l12 xc2 yc2 , where
N1 2l4 yc , N 2 2l4 ( xc l5 ),
R1 2l2 (h l1s11 ), R2 2l2 (a l1c11 ), R3
N3 l32 l42 l52 xc 2 yc 2 2l5 xc . ,
(L0 L1 )2 a2 h2 l12 l22 2l1 (hs11 ac11 )
www.intechopen.com Bin Zi, Xia Wu, Jun Lin and Zhencai Zhu: Inverse Kinematics and Singularity Analysis 3
for a 3-DOF Hybrid-driven Cable-suspended Parallel Robot
S1 2l3 ( h l4 s14 ), and g denote the acceleration of gravity. In terms of
dynamic equations, Eq. (15) based on the Euler equation
of Newtonian mechanics, is valid only for Ti >0, i.e., the
S 2 2l3 (a l5 l4 c14 ),
cables are in tension.
S3 ( L0 L1 ) (a l5 ) h l32 l42 2l4 (hs14 ac14 l5c14 ) .
2 2 2
æ x1 - x
çç x2 - x x3 - x ö÷
÷÷
çç L L2 L3 ÷÷
Combining the kinematics analysis of the HDPMs with çç 1 ÷æ
÷ T1 ö æ mx ö÷÷
CPR , for the HDCPR , when the trajectory of the
çç y - y y2 - y y3 - y ÷÷÷ççç ÷÷÷ ççç ÷
çç 1 ÷çT2 ÷÷÷ = çç my ÷÷÷ (15)
end‐effector and the velocity of the CV motor is çç L1 L2 L3 ÷÷ç ÷÷èççT ø÷÷ èççmg + mzø÷÷
çç
z3 - z ÷÷÷
3
determined, qi1 , qi 2 , qi 3 , qi 4 , xic , yic , Li can be derived, çç z1 - z z2 - z
ç ÷÷
which is the basis of the singularity analysis.
çè L1 L2 L3 ÷ø
3. Singularity Analysis After obtaining the workspace of the HDCPR using the
above constraint conditions, the determinant of the
Considering the constraint equations obtained above, Jacobian matrix, det(J), is evaluated at continuous points
analytical methodology based on the Jacobian matrix can within the workspace to check if there are singularities.
be used to locate singularity regions within the
workspace of the HDCPR. Since the three groups of the HDPMs are identical, in
order to obtain the Jacobian matrix of the HDCPR, the
In practical application the operating conditions in the constraint Eqs. (4), (6) and (9) can be represented as
entire workspace of the HDCPR need to be considered.
Besides, the importance of the workspace is highlighted uik ( i1 , i 4 , xic , yic ) 0
from the point of view of the main design criteria for the
f i ( x, y , z , Li ) 0 i 1, 2,3k 1, 2 (16)
orientation mechanism. Firstly, the workspace analysis of
p (L , x , y ) 0
the HDCPR is now briefly recalled. i i ic ic
For the configuration of the HDPM, as shown in Fig. 2, Differentiating Eq. (16) with respect to all the variables
inequality for the joint Ci can be written as Eq. (13) leads to
completed by the constraint for the rotational joint
Aic p ic Bic qic
l1 l2 l AiCi l1 l2
(13) A0 p B0 q0 (17)
l3 l4 lCi Ei l3 l4 A p B q
L L L L
Input parameters
Compute Aic� Bic� A0
Compute the
workspace of the
yic = yic min HDPMs
Yes
det(A0)=0
No
xic = xic min 0 < Li < b 2 + h 2
Yes
det(Aic)=0
l1 - l2 £ l AiCi £ l1 + l2 Ti > 0 No
l3 - l4 £ lCi Ei £ l3 + l4
No
0 < x < b, 0 < y < 3 x, det(Bic)=0
xic ¬ xic + Dxic
y < 3(b - x), 0 < z < h Yes
No
xic > xic max
Compute singularities
Yes Compute the
workspace of the
Yes HDCPR Output
yic > yic max
singularities plot
No
yic ¬ yic + Dyic Compute θi1� θi4� Li
End
Figure 3. Procedure for determining the singularities within the workspace of the HDCPR
www.intechopen.com Bin Zi, Xia Wu, Jun Lin and Zhencai Zhu: Inverse Kinematics and Singularity Analysis 5
for a 3-DOF Hybrid-driven Cable-suspended Parallel Robot
Table 1. Kinematics parameters of the HDCPR
The procedure for computing the singularities within the the transition is smooth, which justifies the inverse
reachable workspace of the HDCPR using a gradual search kinematics solutions of the HDCPR.
algorithm is shown in Fig. 3. It should be noted that there
are three dashed rectangular frames. This paper is
concerned with searching for the singularities according to 0.5
the given kinematics parameters, besides, the workspace of
the HDPMs determine the movement of the driven cables. 0.4
Therefore, as shown in the first dashed rectangular frame,
it is first necessary to calculate the workspace of the
z' (m)
0.3
HDPMs. Then the workspace of the end‐effector of the
HDCPM can be calculated from the constraint conditions
in the second dashed rectangular frame. Furthermore the 0.2
third one represents the condition for the singularities.
0.1
4. Results and discussion
0
0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55
The following simulation results were derived by coding x' (m)
in Matlab the equations presented in Section 2 and 3. The Figure 5. The trajectory of the joint C1
kinematics parameters of the HDCPR are summarized in
Table 1. The velocity of the CV motor is 0.5rad/s and the 3
trajectory of the end‐effector is expressed as follows
11
12
13
14
2.5
x t 6 3 4
y 3 t 12 3 6 (21)
2
z t 6 3 4
v (rad)
1.5
1
1.2
0.5
1
0.8
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
z (m)
0.6
Time (s)
0.4 Figure 6. Change in length of the cable Li
0.2
1.4
0 L1 L2 L3
0
1.2
0.2 1.1
0.4 1
0.9 1
0.6
0.8
0.8 0.7
y (m) x (m) 0.8
L (m)
Figure 4. Following trajectory of the end‐effector
i
0.6
Fig. 4 displays the trajectory tracking of the end‐effector 0.4
of the HDCPR and the homologous trajectory of the joint
C1 is shown in Fig. 5. Figs. 6 and 7 show the changes in 0.2
length of the cables and displacement of the angle θ1v, 0
respectively, with v=1,2,3,4. From the simulation results, it 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (s)
can be concluded that the value change is reasonable and Figure 7. Change in displacement of the angleθ1v
Power (W)
|P 1|
group of the HDPMs, ti1 and ti 4 is the torque input
0.5
by the CV motor and by the servomotor, respectively [18].
0.4
z' (m)
As the motion trajectory of the end‐effector is the same
and as the structural parameters of the classical 0.3
www.intechopen.com Bin Zi, Xia Wu, Jun Lin and Zhencai Zhu: Inverse Kinematics and Singularity Analysis 7
for a 3-DOF Hybrid-driven Cable-suspended Parallel Robot
1.2
0.8
z (m)
0.6
0.4
0.2
0
1
0.8
0.6
0.4
1.2
0.2 1
0.8
0.6
0.4
y (m) 0
0
0.2
x (m)
(B)
0.8
0.7
0.6
0.5
y (m)
0.4
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1 1.2
x (m)
(C) Fig.12 det(A0) within the workspace
1.2
Fig.13 det(A1c) within the workspace
1
0.8
z (m)
0.6
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1 1.2
x (m)
(D)
1.2
Figure 14. det(B1c) within the workspace
1
Taking the first group of the HDPMs for instance, Figs.
12‐14 show the variational values of det(A0), det(A1c) and
0.8
det(B1c) within the workspace respectively. In Figs. 12 and
z (m)
0.6
13, it can be noted that many of the points are not equal to
0.4
zero, but rather close to zero, which indicates that the
matrix A0 of the CPR and the matrix A1c of the HDPM
0.2
have no impact on the singularity. On the contrary, in Fig.
14, some points satisfy the condition det(B1c)=0. Therefore,
0 the matrix Bic of the three groups of the HDPMs, with
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
y (m) i=1,2,3, makes a full impact on the singularity of the
Figure 11. The singularities within the workspace of the HDCPR HDCPR.
(A) 3D view, (B) XOY plane, (C) XOZ plane, (D) YOZ plane
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for a 3-DOF Hybrid-driven Cable-suspended Parallel Robot