Análisis cinemático inverso y directo del robot paralelo

Abstract

This work is a part of a multidisciplinary research project from Escuela Politécnica Nacional. The objective of this work is to analyze the kinematics of a parallel robot with 4GDL, which contains a static and a mobile platform, connected by 3UPS (Universal, Prismatic, Spherical) - RPU (Rotational, Prismatic, Universal) chains, to apply in knee rehabilitation. In view of the functions to be performed by the robot, it stablishes a geometric initial configuration, which will be verified through a simulation process. Denavit - Hartenberg (D-H) parameters are determined to define the transformation matrices that establish the constraint equations. Principles of forward and reverse kinematics are aplied to find generalized coordinates and joint velocities. Workspace of robot is established with limit positions of the lower limb. Matlab programming subroutines are developed to enter mobile platform rotations and translations as inverse kinematics parameters; the positions obtained are used as inputs to direct kinematics and the error generated is determined. Geometric model is developed in VRBUILD module from Matlab in order to appreciate movements from the robot and results are viewed with GUIDE interface.