Determination of Position-Orientation Matrix for a Planar Parallel Topology Robot by Using the “Pair of Frames” Concept

“Eftimie Murgu” University of Resita
Traian Vuia Square, No. 1-4, 320085 Resita, Romania
E-mail: c.miclosina@uem.ro, i.halalae@uem.ro

Abstract: The paper presents a method of determining the position-orientation matrix of the reference system attached to the characteristic point of a planar parallel topology robot, by using the “connexion” and “pair of frames” concepts. The kinematical scheme of robot’s guiding device mechanism of FP3+3·RTR+MP3 type is shown, as well as the manner of choice of the frames attached to the links. In order to obtain the position-orientation matrix, the matrix calculus is accomplished.

Keywords: Matrix calculus, position-orientation matrix, parallel topology robot.

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References

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