Reachable workspace determination for a spatial hyper-redundant manipulator formed by several parallel manipulators

被引：0
|
作者：
Bo Hu
He Cui
Dongsheng Shi
Dongsheng Zhang
Andong Wang
Ying Wang
Qian Zhang
机构：
[1] Yanshan University,Parallel Robot and Mechatronic System Laboratory of Hebei Province
[2] Yanshan University,Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education
[3] North China University of Science and Technology,College of Mechanical Engineering
[4] Yanshan University,School of Environmental and Chemical Engineering
来源：
Journal of Mechanical Science and Technology | 2019年 / 33卷
关键词：
Hyper-redundant manipulator; Reachable workspace; Parallel manipulator; Delta robot; Triple delta-type SHRM;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Solving the reachable workspaces of spatial hyper-redundant manipulators (SHRMs) formed by serially connected parallel manipulators is an important and challenging work. This study addresses the issue on reachable workspaces and establishes a novel CAD-VBbased workspace determination system for determining the reachable workspaces of SHRMs. The reachable workspace determination of a novel (3-RPS)+(3-SPR)+(3-RPS) SHRM, a triple delta-type SHRM, and a novel (3-RRS)+(3-SPR)+(3-RRS) SHRM shows the generality and effectiveness of the proposed approach. The system proposed in this study can contribute to reachable workspace analysis for SHRMs.
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页码：869 / 877
页数：8
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