Computation of the safe working zones of Planar and Spatial Parallel Manipulators

被引：8

作者：

Karnam, Murali K. ^{[1
]}

Baskar, Aravind ^{[2
]}

Srivatsan, Rangaprasad A. ^{[3
]}

Bandyopadhyay, Sandipan ^{[4
]}

机构：

[1] Univ Basel, Dept Biomed Engn, CH-4001 Basel, Switzerland

[2] Univ Notre Dame, Dept Aerosp & Mech Engn, Notre Dame, IN 46556 USA

[3] Carnegie Mellon Univ, Robot Inst, 5000 Forbes Ave, Pittsburgh, PA 15213 USA

[4] Indian Inst Technol Madras, Dept Engn Design, Chennai 600036, Tamil Nadu, India

来源：

ROBOTICA | 2020年 / 38卷 / 05期

关键词：

Safe working zone; Parallel manipulator; Singularities; Link interference; Joint limits; Singularity-free workspace; CLOSED-LOOP MECHANISMS; SINGULARITY-FREE PATH; WORKSPACE ANALYSIS; GENERAL-METHOD; OF-FREEDOM; OBJECTS; DESIGN;

D O I：

10.1017/S0263574719001139

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the computation of the safe working zone (SWZ) of a parallel manipulator having three degrees of freedom. The SWZ is defined as a continuous subset of the workspace, wherein the manipulator does not suffer any singularity, and is also free from the issues of link interference and physical limits on its joints. The proposed theory is illustrated via application to two parallel manipulators: a planar 3-R_RR manipulator and a spatial manipulator, namely, MaPaMan-I. It is also shown how the analyses can be applied to any parallel manipulator having three degrees of freedom, planar or spatial.

引用

页码：861 / 885

页数：25

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