Motion Control of 6-DOF Relative Manipulation Device

The article discusses a robotic system based on a 6-DOF relative manipulation device consisting of two modules. The lower module is based on a parallel planar 3-RPR mechanism, and the upper module is based on a parallel 3-RPS tripod module. Such robotic system can be used in mechanical engineering as a robot-machine for the mechanical processing of parts. The mathematical model was built in the MATLAB package to analyze the prospects for using a 3-RPS robot. An alternative description of the rotation of the robot’s mobile platform is proposed to organize a simpler control of it within the framework of a system of interacting robots. A technique has been developed to compensate for the movable tripod platform’s horizontal displacements and take into account the geometric dimensions of the replaceable tool and the relative positions of the 6-DOF system modules during the control process. The results of the mathematical simulation are presented.