 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 13088 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8125
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| In English (Mech. Solids): | | 4963 |
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| Weitao Li, Zhonghui Wei, Naijun Zhang, Zhengwei Yue, Liyuan Liu, Ziran Wang, Yuxia Li, and Zonggao Mu, "A U-FABRIK Method for Inverse Kinematics of the Rigid-Flexible Serial Robot Working in Narrow Spaces," Mech. Solids. 60 (1), 338-351 (2025) |
| Year |
2025 |
Volume |
60 |
Number |
1 |
Pages |
338-351 |
| DOI |
10.1134/S0025654424606530 |
| Title |
A U-FABRIK Method for Inverse Kinematics of the Rigid-Flexible Serial Robot Working in Narrow Spaces |
| Author(s) |
Weitao Li (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Zhonghui Wei (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Naijun Zhang (Shandon Jite Industrial Technology Company Limited, Rizhao, 262300 China)
Zhengwei Yue (Shandon Jite Industrial Technology Company Limited, Rizhao, 262300 China)
Liyuan Liu (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Ziran Wang (Key Laboratory of High-efficiency and Clean Mechanical Manufacture (Ministry of Education), Department of Mechanical Engineering, Shandong University, Jinan, 250100 China)
Yuxia Li (Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, 255000 China)
Zonggao Mu (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China;Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, 255000 China; Key Laboratory of High-efficiency and Clean Mechanical Manufacture (Ministry of Education), Department of Mechanical Engineering, Shandong University, Jinan, 250100 China; Shandon Jite Industrial Technology Company Limited, Rizhao, 262300 China, muzonggao@163.com) |
| Abstract |
A uniformed forward and backward reaching inverse kinematics (U-FABRIK) method is
proposed for the designed rigid-flexible serial robot with both the rigid mechanism and the flexible
mechanism. In this method, both the end pose and overall configuration of the rigid-flexible serial
robot can be synchronous planned to perform collision avoidance and joint limit avoidance. The key
steps of this method are as follows. Firstly, the 7-DOF rigid mechanism and the 4-DOF flexible
mechanism are uniformly simplified into equivalent segments. The lengths and positions of equivalent
segments can be solved based on the current configuration of the rigid-flexible serial robot. Secondly,
the end roll angle adjustment is added in the equivalent segment iteration process according to characteristics of the rigid-flexible serial robot. This method allows for the complete constraint on the end
pose of the rigid-flexible serial robot. Thirdly, the kinematic parameters of the rigid-flexible serial
robot are determined by fitting the rigid mechanism and flexible mechanism with equivalent segments. Finally, the prototype of the rigid-flexible serial robot is developed and experimented. The
maximum end position error of the rigid-flexible serial robot is no more than 5.7 mm. The results verify the effectiveness of the proposed U-FABRIK method. |
| Keywords |
Rigid-flexible serial robot, U-FABRIK, Inverse kinematic, Obstacle avoidance |
| Received |
17 November 2024 | Revised |
09 January 2025 | Accepted |
09 January 2025 |
| Link to Fulltext |
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