Autors: Bratovanov, N. G., Sotirov Z.
Title: Virtualization for the Purposes of Modeling and Computer Simulation of a Class of Overconstrained Robots
Keywords: parallel manipulators; kinematic modeling; computer simulati

Abstract: The paper presents an approach to modeling, analysis, and simulation of overconstrained parallel manipulators, based on joint virtualization. This novel concept is proposed for the purpose of studying a three-degree-of-freedom closed-loop mechanism, which has found a broad industrial application in the field of semiconductor device manufacturing and fab automation. A distinctive feature of this overconstrained manipulator, known as GPR, is its ability to “use” the inherent elasticity and backlash of its components in order to perform finite small rotations when in the vicinity of a singular configuration, eliminating the need of using additional kinematic joints. This characteristic behavior is exhaustively studied by introducing virtual joints at the GPR’s terminal link, allowing the development of precise computational models that facilitate the execution of realistic motion simulations (in 3D SolidWorks environment), as well as in-depth mobility and accuracy analyses.


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Proceedings of The Fourth IEEE International Conference on Robotic Computing (IRC), vol. 1, pp. 285–289, 2020, Taiwan, ISBN 978-1-7281-5237-0

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