![]() 5187052280) and by Economic and Information Commission of Sichuan Province (Development of Normal-position Intelligent Manufacturing Technology and Device for Major Equipment). This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.ĭata Availability: All relevant data are within the manuscript and its Supporting Information files.įunding: This project is supported by National Natural Science Foundation of China (Grant No. Received: MaAccepted: AugPublished: January 20, 2021Ĭopyright: © 2021 Luo et al. PLoS ONE 16(1):Įditor: Zhan Li, University of Electronic Science and Technology of China, CHINA This research provides a theoretical framework for trajectory planning of mechanisms, workspace optimization of robots, and robotic control.Ĭitation: Luo L, Hou L, Zhang Q, Wei Y, Wu Y (2021) Kinematics and workspace analysis of 4SPRR-SPR parallel robots. In addition, the robot kinematics and workspace analysis methods described herein can be extended to other serial and parallel robots. The simulation results demonstrate the effectiveness of the methods proposed in this study. Finally, the 3D model of the 4SPRR-SPR parallel robot is simulated using the ADAMS software to verify the reliability of the proposed algorithms. The workspace of the 4SPRR-SPR parallel robot is analyzed using the boundary extraction algorithm. The performance of the boundary extraction algorithm is analyzed and compared with that of a global search algorithm the result indicates that the novel algorithm has the same computational accuracy in addition to higher efficiency. A boundary extraction algorithm for the workspace analysis of the parallel robot is proposed. Furthermore, an improved algorithm is obtained by combining the locally linear embedding (LLE) and VQTAM methods. The forward kinematics model is derived by training the vector-quantified temporal associative memory (VQTAM) network, which originates from a self-organizing map (SOM). In this study, the inverse kinematics of the 4SPRR-SPR parallel robot is analyzed using a geometric method based on the mechanism arrangement of the robot. Kinematics and workspace analyses of the 4SPRR-SPR parallel robot are key requirements for its application in machining. To learn more about our products and what sets Geodetics Geo MMS product suite apart from the rest sign up for our monthly newsletter.The 4SPRR-SPR parallel robot, which has considerable potential for application in the field of machining, is a novel closed-loop mechanism with a high rigid-weight ratio. If you are operating the system in a higher latitude, even shorter baselines, < 5 miles, are recommended, as the temperature and atmospheric conditions change abruptly in these areas. That is the reason a short-base line between the base-rover is ideal. By sensing similar atmospheric delays, we can difference out these delays and thereby improve the accuracy of the solution. The further apart these receivers are, the more different the atmosphere the signals pass through as they travel to the separated receivers. To eliminate these atmospheric errors, the base GPS receiver and the rover GPS receiver need to be affected by similar atmospheric conditions which is true when the receivers operate closely to each other. This change in speed (signal delay) effects the GPS observations at the base-rover GPS receivers leading to larger errors in position accuracy. ![]() ![]() These atmospheric layers effect the travel speed of the GPS signals as they propagate through the atmosphere since the signals are no longer traveling in a vacuum but are rather passing through the atmosphere. Since the GPS signals are traveling from the GPS satellites in space toward the GPS receivers on earth, these signals pass through several layers of the atmosphere, including the ionosphere and troposphere. Post-Processing-Kinematic (PPK) GPS Base Station
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