Analysis of the Direct Kinematic Problem in 3-DOF Parallel Manipulators

M. Urizar, V. Petuya, O. Altuzarra, E. Macho, and A. Hernandez

Abstract In this paper, the authors will show a methodology for computing the conguration space with one constant input, basing on the principles of the discretization methods. Taking chance of an entity called the reduced conguration space, the Direct Kinematic Problem will be solved. Moreover, this entity allows the transition between different solutions to be performed, with the purpose of enlarging the range of motion of the manipulator. Keywords Dkp solutions Parallel manipulator Path planning Reduced conguration space

1 Introduction
Parallel manipulators are an interesting alternative to serial manipulators given the important mechanical and kinematics advantages offered, i.e., better stiffness, high accuracy, higher velocity and acceleration of the end-effector, etc. Nevertheless, in counterpart they present limited and complex workspaces with internal singularities. Thus, the workspace size and shape, as well as the singularity loci are considered the main design criteria of these robots. The representation of the workspace normally stands for the reachable volume of the end-effector. Concerning the workspace obtaining methods, there exist several viewpoints; discretization methods, geometric methods and analytical methods can be distinguished. Discretization methods [1, 7], consist in establishing a mesh of nodes with end-effectors positions and orientations. Each node is checked to nd whether it
M. Urizar (*) Faculty of Engineering in Bilbao, Department of Mechanical Engineering, University of the Basque Country, Basque Country, Spain I. Visa (ed.), SYROM 2009, DOI 10.1007/978-90-481-3522-6_36, # Springer ScienceBusiness Media, B.V. 2010

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belongs or not to the workspace, normally by means of solving the Inverse Kinematic Problem (IKP). In general, parallel manipulators have multiple DKP and IKP solutions, called assembly modes and working modes respectively. Some applications are trying to show the practicability of changing between different DKP solutions, whereby the workspaces associated to each solution are joined to get a larger practical workspace. Nevertheless, in these approaches DKP singularities are crossed making use of additional strategies, such as redundant actuators in passive joints or making use of physical effects like gravity [4], which may imply a certain risk of uncontrollability. Although initially it was a common belief that DKP solutions are always separated by DKP singularities [2], afterwards in [3] it was showed this assumption is not always veried. Dealing with this topic, other authors have managed to demonstrate that it is possible to join different DKP solutions via paths totally free of singularities [6]. This fact suggests the possibility of a wider use of the workspace. The conguration space is a concept used by several researches [6, 8], to get direct visualizing and analysis of all assembly modes and working modes simultaneously. It will be shown in this paper that computing and making use of a particularization of the conguration space, called the reduced conguration space, it is possible to obtain all DKP solutions and maximize the manipulators motion by means of path planning.

2 Computing Workspace with One Input Constant

The target manipulators in the present research are three-degree-of-freedom (DoF) planar or spatial parallel manipulators formed by three kinematic chains or limbs (not necessary the same type), being each limb actuated by just one input actuator. Also, the kinematic joints in each limb must be lower pairs as revolute (R), prismatic (P) and so on. The process for obtaining the workspace with one constant input is based on the procedure consisting in discretizing the workspace obtaining discrete poses of the manipulator. The moving platforms location is dened by the location of a moving frame attached to it. As an example, in the planar cases depicted in Fig. 1, the moving frame is (P, X0, Y0) being (0, X0, Y0) the xed frame. In the three examples represented in Fig. 1, the constant input stands for the parameter L in the RPR limb, the angle a in limb RRR, and the parameter s in PRR. In the three cases, the constant input restricts the moving frame motion to a circular motion round a xed node denoted as (xa,ya). Thus, the positional discretization algorithm locates the moving frame (P, X0, Y0), in position and also with several orientations, into discrete poses that meet the constant input constraint.

Analysis of the Direct Kinematic Problem in 3-DOF Parallel Manipulators Fig. 1 Positional discretization algorithm

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Subsequently, the verication of which discrete pose constitutes a solution is carried out analytically, by solving the IKP of the remaining kinematic chains separately. One pose will belong to the workspace when the three kinematic chains can be assembled. The discrete poses belonging to the workspace are joined in an interpolation process, hence, obtaining a continuous surface. The kinematic analysis is carried out by evaluating the DKP and IKP Jacobian matrices determinants for each pose. One position equation for each limb is set up, called the characteristic equation ( for i = 1, 2, 3). Mathematical assembly is performed expressing in the characteristic equations, , each limb joining-node coordinates as a function of the output variables. Then, the system governing the velocity problem is obtained and can be expressed in matrix form as follows: 2 @f1
@x1 6 @f2 4 @x1 @f3 @x1 @f1 @x2 @f2 @x2 @f3 @x2 @f1 @x3 @f2 @x3 @f3 @x3

38 9 2 @f1 _ @q1 < x1 = 7 6 _ 5 x2 4 0 : ; _ x3 0

0
@f2 @q2

@q3

38 9 _ < q1 = 7 _ 0 5 q2 : ; @f3 _ q3 0

(1)

where xk and qk, for k = 1, 2, 3, are the manipulators output and input variables respectively. Jacobian matrices terms are the partial derivatives of the characteristic equations, , with respect to each of the output variables, xk, in the DKP Jacobian (JDKP) and with respect to each input variable, qk, in the IKP Jacobian (JIKP). The mapping of the determinants |JDKP| and |JIKP| is carried out for each pose obtaining all the singularity loci.

3 Visualizing the Reduced Conguration Space

The reduced conguration space constitutes a three-dimensional surface that relates one output variable against the two input variables that are not constant. This entity allows the relation between input and output variables to be visualized. The parallel manipulator represented in Fig. 2 is a 3-DoF planar parallel manipulator with three limbs, one RPR kinematic chain and two PRR kinematic chains. The input variable of the rst limb RPR is dened by the parameter L1, and the angles a2 and a3 correspond to the inputs of the second and third limbs respectively. The geometric parameters of the manipulator are: a, b (that dene the moving platforms dimensions), R2 and R3. For the example, a constant value to the R joint of limb three will be given, i.e., a3. Thus, the moving frame (P, X0, Y0) is located attached to the platform joiningnode B3 that links to limb three. The three characteristic equations, as explained in Section 2, are as follows:

Analysis of the Direct Kinematic Problem in 3-DOF Parallel Manipulators Fig. 2 (a) Parallel manipulator RPR-2PRR; (b) Software representation

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8 > f1 : x a b cos j2 y a b sin j2 > < 2 L 1 0 > f2 : x b cos j R2 sin a2 0 > : f3 : y R3 sin a3 0

(2)

The dimensional values are: a = b = R2 = 2.5 and R3 = 2a = 5. Fixing input angle a3 constrains the moving platforms motion to a constant value of the output variable y. Thus, both the reduced conguration spaces representing output variable or x can be depicted, obtaining different surfaces for each case, and having each one of them the same information related to the motion capacity analysis. Selecting constant input a3 = 170 and representing, i.e., output variable yields the reduced conguration space shown in Fig. 3. Note that it is not a closed surface due to the angular character of input a2 and output .

450 Fig. 3 Reduced Conguration Space for a3 = 170

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In Fig. 3, the different regions associated with the positive and negative sign of the |JDKP| are shown, separated between them by the DKP singularity curves depicted in red colour. Besides, the two regions associated with the two possible congurations of limb two are separated by the IKP singularity curves, plotted in green. The two possible congurations of limb two establish the two working modes of this limb. The manipulator is in its WM1 when 90 a2 90 , WM2 being   associated with the range 90 a2 270 .

3.1

Finding All DKP Solutions

The DKP consists in obtaining the output variables for specic input values. For a given input, the reduced conguration space can be computed, and the two remaining inputs represent a vertical line in the reduced conguration space that intersects the surface at several points. Each of these intersection points will belong to triangles made up by the three closer exact solutions. Hence, it is feasible to make an interpolation among those point values to obtain the approximate solution (x,y,f) of the intersection point, as it is shown in Fig. 4. The solutions of all the intersection points will bring out all the DKP solutions. To clarify the procedure, the example under study will be used. Being the input values: L1 = 4, a2 = 21 and a3 = 170 , it yields the four DKP solutions represented in Fig. 5. At the left side of Fig. 5, both the reduced conguration space at the top and its projection onto the joint space (L1,a2), underneath, are depicted. The

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Fig. 4 Interpolation process for obtaining the DKP solutions

Fig. 5 Four DKP solutions for inputs: L1 = 4, a2 = 21 and a3 = 170

selected inputs correspond to one point in the joint space inside the region with four DKP solutions, meanwhile this point represents a vertical line in the 3D plot. The four solutions represented on the right hand side of Fig. 5 have a constant value of output variable y, due to the constraint of xing input a3. Hence, the moving frames origin lies in a horizontal line plotted in red colour. By varying the point in the joint space, the DKP solutions for any input values can be obtained.

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4 Path Planning Between Different DKP Solutions

The aim of this section is to take advantage of the reduced conguration space with the purpose of path planning between different DKP solutions. Representing the reduced conguration space implies that one of the input variables remains constant. Nevertheless, applying iteratively the procedure, for different input values, the corresponding reduced conguration spaces can be depicted. This allows us to analyze the optimum constant input for making nonsingular transitions between DKP solutions, thus, enlarging the manipulators motion ability. In Fig. 6, the reduced conguration space for constant a3 = 160 is depicted. Comparing this case with the one obtained previously for a3 = 170 (Fig. 5), it can be observed the region with four DKP solutions has been reduced, and also, special points, called cusp points, appear in the projected DKP singularity curves onto the joint space.

Fig. 6 Reduced conguration space for constant a3 160 and DKP solutions

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Cusp points correspond to points in the DKP singularity curves where three DKP solutions coalesce. It has been researched in previous papers [5], that encircling cusp points permits making non-singular solution changes between different solutions or assembly modes. Let us demonstrate these afrmations in the example under study. Focusing on the DKP solutions location for constant a3 = 170 (Fig. 5), it can be observed that there are four regions associated to |JDKP| < 0 (plotted in blue, two regions) or |JDKP| > 0 (plotted in green, two regions) which are separated between them by the DKP singularity curves. Besides, as explained previously, the IKP singularity curves divide the reduced conguration space into two regions associated to the two working modes of the manipulator. In this case (for a3 = 170 ), the DKP solutions lie one in each singularity-free region and the impossibility exists for nding a path or trajectory to move from one solution to another without crossing any singularity. Nevertheless, focusing on Fig. 6, which corresponds to a3 = 160 , the reduced conguration space has acquired a shape such that there are only two singularityfree regions, separated between them by the DKP singularity curves. These two regions are called sheets of the reduced conguration space, and dene the maximum region free of any singularity. Yet again, similarly to the previous case for a3 = 170 , the IKP singularity curves divide the reduced conguration space into two regions according to each working mode. Thus, for each working mode, there are two sheets free of internal singularities. Due to the existence of only two singularity-free sheets, in each of them lie two different DKP solutions. Solutions (13) are located on the region with |JDKP| < 0 (sheet1), meanwhile solutions (24) lie on the region with |JDKP| > 0 (sheet2). Hence, it is feasible to search for paths inside the singularity-free sheets so as to move from one solution to another. In fact, the existence of the aforementioned cusp points is the key factor for planning transitions between solutions. In Fig. 7, the paths joining the two pairs of solutions in each sheet, by encircling cusp points c1 and c2, are shown. Each one of these paths remains completely inside each singularity-free sheet associated with WM1. Thus, the transitions between solutions can be performed in a completely safety way. Working now with the rst of the sheets, i.e., the one associated to |JDKP| < 0 (sheet1), the singularity-free path joining the two DKP solutions 1 and 3 is shown in Fig. 8, which does not cross at any time neither the DKP nor the IKP singularity curves. This path encircles cusp point c1, standing for a circular trajectory in the joint space. Poses correspondent to solutions 1 and 3, and two intermediate poses pi, along the path, have been represented in Fig. 8. Therefore, visualizing the reduced conguration space for different input values, allows searching for the optimal input for non-singular transitions to be possible, thus, getting a wider operational workspace.

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Fig. 7 Singularity-free paths encircling cusp points

It must be emphasized that the reduced conguration space has all the information of the conguration space. However, as it has been explained, one of the inputs must remain constant and depending on the selected value of the input it is feasible or not to perform non-singular transitions.

5 Conclusions
In this paper, a useful computational tool for obtaining the reduced conguration space with constant input has been presented. It allows the Direct Kinematic Problem to be solved, and the locations of the solutions across the different surfaces visualized. In addition, the reduced conguration space permits searching for

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Fig. 8 Path planning between solutions 1 and 3

trajectories joining different solutions so as to enlarge the manipulators range of motion.

Acknowledgments The authors of this paper wish to acknowledge the nancial support received from the Spanish Government via the Ministerio de Educacion y Ciencia (Project DPI2008-00159) and the University of the Basque Country (Project GIC07/78).

References
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