Inverse Kinematics of a 5-DOF Tripod-based Hybrid Manipulator. Julia Files
Description
This dataset contains Julia files that solve the inverse kinematic problem of a 5-DOF hybrid manipulator that includes a 3-DOF 3-PRS parallel mechanism (tripod) and a 2-DOF XY table. The corresponding paper describing the applied algorithm is going to be published in Journal of Machinery Manufacture and Reliability. Please check the list of works at https://orcid.org/0000-0002-3928-5440. The dataset includes the following Julia files: 1. File "main.jl" is the main file that proceeds with the inverse kinematic analysis of the manipulator step by step. 2. File "geometry.jl" is used to define geometrical parameters of the manipulator. 3. File "trajectories.jl" includes a function that define trajectory of the tripod output link relative to the moving table, which is used as the input motion for the inverse kinematics. 4. File "kinematics.jl" includes a function that solves the inverse kinematic problem and one auxiliary function. 5. File "plots.jl" includes a function that visualizes the results of the kinematic analysis. 6. Optional files "Project.toml" and "Manifest.toml" contain information about the used packages. In addition, the dataset includes the following files obtained from the SolidWorks package: 1. File "ikp_CAD.xlsx" contains a solution to the inverse kinematics obtained with CAD simulations. 2. File "ikp.avi" contains a short video that illustrates the performed CAD simulations.
Files
Steps to reproduce
The files have been written in Julia v1.10.3 using VS Code v1.92.1 with Julia extension v1.105.2. The files need a CairoMakie package (v0.12.5) for visualization and an XLSX package (v0.10.1) for importing CAD data from the xlsx file. After installing these packages, one can use VS Code and follow the "main.jl" file according to the comments therein.