3-D Visualization on Workspace of Parallel Manipulators
نویسندگان
چکیده
منابع مشابه
Maximal Operational Workspace of Parallel Manipulators
Parallel manipulators are an interesting alternative to serial robots given the important mechanical and kinematic advantages offered. Nevertheless, they often present more complex and smaller workspaces with internal singularities (Altuzarra et al., 2004; Gosselin & Angeles, 1990). Thus, the workspace size, shape and quality are considered some of the main design criteria of these robots (Merl...
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An important step during the design of a parallel manipulator is the determination of its workspace. For a 6 d.o.f. parallel manipulator workspace limitations are due to the bounded range of their linear actuators, mechanical limits on their passive joints and links interference. The computation of the workspace of a parallel manipulator is far more complex than for serial link manipulator as i...
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In this article, the workspace of planar wire-actuated parallel manipulators is studied. The investigation is based on two methods: an analytical method which formulates the workspace envelope by means of Cramer’s rule pertaining to the Jacobian matrix and the null space method from static analysis of manipulator. The workspace envelope method is extended to analyzing redundant planar manipulat...
متن کاملTrajectory Verification of Parallel Manipulators in the Workspace
We present a fast algorithm for solving the problem of determining if the straight line between two different postures of a parallel manipulator lie fully inside its workspace. This algorithm is based on the analysis of the algebraic inequalities describing the constraints on the workspace (link lengths range, mechanical limits on the joints, interference between the links) and enables to compu...
متن کاملUniqueness Domains in the Workspace of Parallel Manipulators
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...
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ژورنال
عنوان ژورنال: Journal of Advanced Mechanical Design, Systems, and Manufacturing
سال: 2009
ISSN: 1881-3054
DOI: 10.1299/jamdsm.3.58