Title: Kinematics of the eccentric RPRPR chain with applications to robotics, materials handling and manipulation
Authors: Petru A. Simionescu; Ilie Talpasanu
Addresses: School of Engineering and Computing Sciences, Texas A&M University Corpus Christi, 6300 Ocean Dr., Unit 5797, Corpus Christi, Texas, 78412, USA ' Department of Mechanical Engineering and Technology, College of Engineering and Technology, Wentworth Institute of Technology, 550 Huntington Avenue, Boston, MA 02115, USA
Abstract: Two formulations of the RPRPR-chain kinematics are discussed, one using equations of constraint, the other a vector loop approach. These are compared with respect to motion-transmission indicators, differences in plotting the kinematic chain when assembly is not possible, and CPU time required by one set of calculations. By locking one or both sliding inputs of the RPRPR chain, the more commonly used RPRR oscillating slide and the RRR dyad are obtained, with offset points attached to moving links being modelled as triangular Baranov trusses. Simulations of numerous planar mechanisms can be performed using the equations presented. Examples given in the paper include rack-and-pinion four-bar and geared five-bar linkages, rope shovels, hydraulic excavators, 2D serial and parallel manipulators and leg mechanisms. The computer programs used to in these simulations allow for the automatic displaying of velocity and accelerations vectors of moving points, and of dynamics linear and angular dimensions or interest.
Keywords: planar mechanisms; modular kinematics; Assur groups; linear actuators; serial manipulators; parallel manipulators; gear linkages; rope shovels; hydraulic excavators; leg mechanisms; parallel robots; eccentric RPRPR chain; materials handling; kinematic chain; simulation.
International Journal of Mechanisms and Robotic Systems, 2015 Vol.2 No.3/4, pp.314 - 340
Received: 27 Oct 2014
Accepted: 23 May 2015
Published online: 11 Jan 2016 *