A NEW WORKSPACE ANALYSIS METHOD FOR 6-DOF 3-RRRS PARALLEL MANIPULATORS

被引：6
|
作者：
Ramkumar, R. [1 ]
Karthikeyan, C. [1 ]
Dash, Anjan K. [1 ]
机构：
[1] SASTRA Deemed Be Univ, Sch Mech Engn, Thanjavur 613401, Tamil Nadu, India
来源：
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2019年 / 34卷 / 02期
关键词：
6-DOF 3-RRRS parallel manipulators; workspace shape; workspace volume; geometrical approach; ORIENTATION WORKSPACE; TRANSLATIONAL DEGREES; SINGULARITY ANALYSIS; KINEMATICS; BOUNDARIES;
D O I：
10.2316/J.2019.206-5178
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Considering spatial parallel manipulators, volume and shape of the workspace are two important parameters for optimum design. In this paper, 6-DOF 3-RRRS parallel manipulators having symmetric link lengths are the subject of research. A novel geometric method is presented to classify all possible workspace shapes with variation of all the parameters of the manipulator. For each possible workspace shape, required geometric relationships between the parameters of the manipulators are established. In each case, the volume of the workspace is also determined in closed-form expression which is very helpful for optimum design since it makes determination of the workspace volume accurate and fast. With a case study, the usefulness of closed-form expression of the volume and characterization of the workspace based on geometric condition are verified, and optimal parallel manipulators free from voids and singularities are determined for a given workspace volume.
引用
收藏
页码：135 / 145
页数：11
相关论文
共 50 条
  • [31] Nonlinear Computed Torque Control of 6-Dof Parallel Manipulators
    Sancak, Kamil Vedat
    Bayraktaroglu, Zeki Yagiz
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2022, 20 (07) : 2297 - 2311
  • [32] Optimal design of a 3-leg 6-DOF parallel manipulator for a specific workspace
    Jianxun Fu
    Feng Gao
    Chinese Journal of Mechanical Engineering, 2016, 29 : 659 - 668
  • [33] On the design of 6-DOF parallel micro-motion manipulators
    Liu, XJ
    Wang, JS
    Gao, F
    Wang, LP
    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM, 2001, : 343 - 348
  • [34] Inverse kinematic optimal design of 6-DOF parallel manipulators
    Control and Simulation Center, Harbin Institute of Technology, Harbin 150001, China
    J. Harbin Inst. Technol., 2008, 1 (18-22):
  • [35] Nonlinear Computed Torque Control of 6-Dof Parallel Manipulators
    Kamil Vedat Sancak
    Zeki Yagiz Bayraktaroglu
    International Journal of Control, Automation and Systems, 2022, 20 : 2297 - 2311
  • [36] Position, velocity, and workspace analysis of a novel 6-DOF parallel manipulator with ?piercing? rods
    Antonov, Anton
    Glazunov, Victor
    MECHANISM AND MACHINE THEORY, 2021, 161
  • [37] Inverse kinematic optimal design of 6-DOF parallel manipulators
    张义凤
    姚郁
    Journal of Harbin Institute of Technology(New series), 2008, (01) : 18 - 22
  • [38] Mathematical characterization of the workspace of a 6-DOF parallel robot for reverse engineering
    Castillo-Castañeda, E
    Sánchez-Flores, A
    López-Cajún, C
    ROMANSY 14 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS, 2002, (438): : 21 - 30
  • [39] The optimum design of a 6-DOF parallel manipulator with large orientation workspace
    Hwang, Yoon-Kwon
    Yoon, Jung-Won
    Ryu, Je-Ha
    Christiand
    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 2006, : 5617 - +
  • [40] The optimum design of a 6-DOF parallel manipulator with large orientation workspace
    Hwang, Yoon-Kwon
    Yoon, Jung-Won
    Christiand
    Ryu, Je-Ha
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 163 - 168
12345