MECHANISM AND ROBOT

KINEMATICS

ANIRVAN DASGUPTA
DEPARTMENT OF MECHANICAL ENGINEERING
IIT KHARAGPUR

1
 Overview

Displacement analysis of robot manipulators

Problem of forward and inverse kinematics

Example of 3R open chain manipulator
Robot displacement analysis: plan

Planar robots: open chain
Robot displacement analysis: plan

Planar robots: open chain

Planar robots: closed chain
Displacement analysis: two problems
Displacement analysis: two problems

Forward kinematics: given actuator input, find output
 Displacement analysis: two problems

Forward kinematics: given actuator input, find output

Inverse kinematics: for specified output, find actuator input
 Displacement analysis: two problems

Forward kinematics: given actuator input, find output

Inverse kinematics: for specified output, find actuator input

Inputs: actuator displacement

Output: end-effector position and orientation
Open chain planar robots

Two DOF kinematic chains: 2R, RP

Three DOF kinematic chains: 3R, RPR
 Planar 3R manipulator: forward kinematics

l3

l2

l1


Given: Find:
 l3

l2

l1
 
End-effector position coordinates
l3

l2

l1
 
End-effector position coordinates
l3

l2

l1

End-effector orientation coordinate
Planar 3R manipulator: inverse kinematics

l3

l2

l1


Given: Find:
 l3

l2

l1
 l3

l2

l1
 l3

l2

l1
 l3

l2

l1
 l3

l2

l1
Planar 3R manipulator: inverse kinematics

l3

l2

l1
Planar 3R manipulator: inverse kinematics

l3

l2

l1


Use atan2(y,x) function for correct quadrant

Graphical interpretation

l3

l2

l1

Workspace
 Summary

Displacement analysis of robot manipulators

Problem of forward and inverse kinematics

Example of 3R open chain manipulator
End of Lecture
MECHANISM AND ROBOT
KINEMATICS

ANIRVAN DASGUPTA
DEPARTMENT OF MECHANICAL ENGINEERING
IIT KHARAGPUR

1
 Overview

Displacement analysis of robot manipulators

Problem of forward and inverse kinematics

Example of RPR open chain manipulator
Robot displacement analysis: plan

Planar robots: open chain

Planar robots: closed chain
 Displacement analysis: two problems

Forward kinematics: given actuator input, find output

Inverse kinematics: for specified output, find actuator input

Inputs: actuator displacement

Output: end-effector position and orientation
Open chain planar robots

Two DOF kinematic chains: 2R, RP

Three DOF kinematic chains: 3R, RPR
Planar RP manipulator: forward kinematics

l2

s
l1


Given: Find:
 l2

s
l1
 
End-effector position coordinates
l2

s
l1
 
End-effector position coordinates
l2

s
l1


End-effector orientation coordinates
Planar RPR manipulator: inverse kinematics

l2

s
l1


Given: Find:
 l2

s
l1
 l2

s
l1
 l2

s
l1
 l2

s
l1
 l2

s
l1
 l2

s
l1
 l2

s
l1
Planar RPR manipulator: inverse kinematics

l2

s
l1
Planar RPR manipulator: inverse kinematics

l2

s
l1
Planar RPR manipulator: inverse kinematics

l2

s
l1
Planar RPR manipulator: inverse kinematics

l2

s
l1


Use atan2(y,x) function for correct quadrant

Graphical interpretation

l2

s
l1

Graphical interpretation

l2
s

l1

Workspace
 Summary

Displacement analysis of robot manipulators

Problem of forward and inverse kinematics

Example of RPR open chain manipulator
End of Lecture
MECHANISM AND ROBOT
KINEMATICS

ANIRVAN DASGUPTA
DEPARTMENT OF MECHANICAL ENGINEERING
IIT KHARAGPUR

1
 Overview

Displacement analysis of closed chain manipulators

Problem of forward and inverse kinematics

Example of 2R-RPR parallel manipulator with 2 DOF
Closed chain robots
Closed chain robots

Parallel manipulators
Closed chain robots

Parallel manipulators

All actuators connected parallely to the end-effector
Closed chain robots

Parallel manipulators

All actuators connected parallely to the end-effector

Exechon's Parallel Kinematic Machine (PKM)

Source: www.twitter.com/ibonev/status/339217235300208640
Robot displacement analysis: plan

Planar robots: open chain

Planar robots: closed chain
Closed chain planar robots: 2 DOF

Kinematic chains: 2R-3R, RP-RPR, 2R-RPR
Closed chain planar robots: DOF

Kinematic chain: 2R-RPR
E
d
B
l3
A
s4
l2

l1
P Q
 Displacement analysis: two problems

Forward kinematics: given actuator input, find output

Inverse kinematics: for specified output, find actuator input

Inputs: actuator displacement

Output: end-effector position and orientation
RP-RPR manipulator: forward kinematics
E
d
B
l3
A
s4
l2

l1
P Q

Given: Find:
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q


Use atan2(y,x) function for correct quadrant
 E
d
B
l3
A
s4
l2

l1
P Q


Use atan2(y,x) function for correct quadrant
 E
d
B
l3
A
s4
l2

l1
P Q


Use atan2(y,x) function for correct quadrant

Graphical interpretation
RP-RPR manipulator: inverse kinematics
E
d
B
l3
A
s4
l2

l1
P Q

Given: Find:
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q
 E
d
B
l3
A
s4
l2

l1
P Q

Graphical interpretation

Workspace
 Summary

Displacement analysis of closed chain manipulators

Problem of forward and inverse kinematics

Example of 2R-RPR parallel manipulator with 2 DOF
End of Lecture
MECHANISM AND ROBOT
KINEMATICS

ANIRVAN DASGUPTA
DEPARTMENT OF MECHANICAL ENGINEERING
IIT KHARAGPUR

1
 Overview

Displacement analysis of closed chain manipulators



Problem of forward and inverse kinematics



Example of 3(RPR) parallel manipulator with 3 DOF


Closed chain robots
Parallel manipulators


All actuators connected parallely to the end-effector



Exechon's Parallel Kinematic Machine (PKM)

Source: www.twitter.com/ibonev/status/339217235300208640
Robot displacement analysis: plan

Planar robots: open chain

Planar robots: closed chain
Closed chain planar robots: 3 DOF

Kinematic chains: 3(3R), 3(RPR)
Closed chain planar robots: DOF
Kinematic chain: 3(RPR)


E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 Displacement analysis: two problems

Forward kinematics: given actuator input, find output

Inverse kinematics: for specified output, find actuator input

Inputs: actuator displacement

Output: end-effector position and orientation
3(RPR) manipulator: forward kinematics
E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q


Given: Find:
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q


Use atan2(y,x) function for correct quadrant
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q


Use atan2(y,x) function for correct quadrant

Graphical interpretation

Graphical interpretation

Graphical interpretation

Graphical interpretation

Graphical interpretation
3(RPR) manipulator: inverse kinematics
E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q


Given: Find:
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 E
d
B
d
s5 A
R

s2
l1 s4

l1
P Q
 Summary

Displacement analysis of closed chain manipulators



Problem of forward and inverse kinematics



Example of 3(RPR) parallel manipulator with 3 DOF


End of Lecture