A unified algorithm to determine the reachable and dexterous workspace of parallel manipulators

被引：27
|
作者：
Wang, Zhongfei [1 ]
Ji, Shiming [1 ]
Li, Yanbiao [1 ]
Wan, Yuehua [1 ]
机构：
[1] Zhejiang Univ Technol, MOE Key Lab Special Purpose Equipment & Adv Proc, Hangzhou 310014, Zhejiang, Peoples R China
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2010年 / 26卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Parallel manipulator; Reachable workspace; Dexterous workspace; Stratified boundary searching;
D O I：
10.1016/j.rcim.2010.02.001
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents a novel idea for determining the reachable and dexterous workspace of parallel manipulators. Both the reachable workspace and dexterous workspace are utmost important for optimal design and performance comparison of manipulators, because each configuration or point in this region has specified kinematic dexterity by the designer. We propose a uniform algorithm, called stratified workspace boundary determining algorithm (SWBDA), which considers various physical and contrived constraints. The problems of determining the reachable and dexterous workspace boundaries are defined and the unified method is applied to solve all the problems of this kind. The validity and efficiency of the proposed method are verified with two kinds of representative parallel manipulator, since their relational results were studied in literatures. Finally, the advantages of the proposed method are summarized by comparing with other methods. (C) 2010 Elsevier Ltd. All rights reserved.
引用
收藏
页码：454 / 460
页数：7
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