NDLI: A geometrical formulation for the workspace of parallel manipulators

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A geometrical formulation for the workspace of parallel manipulators

Content Provider	Scilit
Author	Russo, Matteo Ceccarelli, Marco
Copyright Year	2021
Description	In study this paper, a geometric formulation is proposed to describe the workspace of parallel manipulators by using a recursive approach as an extension of volume generation for solids of revolution. In this approach, the workspace volume and boundary for each limb of the parallel manipulator is obtained with an algebraic formulation derived from the kinematic chain of the limb and the motion constraints on its joints. Then, the overall workspace of the mechanism can be determined as the intersection of the limb workspaces. The workspace of different kinematic chains is discussed and classified according to its external shape. An algebraic formulation for the inclusion of obstacles in the computation is also proposed. Both analytical models and numerical simulations are reported with their advantages and limitations. An example on a 3-SPR parallel mechanism illustrates the feasibility of the formulation and its efficiency.
Related Links	https://www.cambridge.org/core/services/aop-cambridge-core/content/view/74994126794BD4DB8A5A4DA33A9085CB/S0263574721001806a.pdf/div-class-title-a-geometrical-formulation-for-the-workspace-of-parallel-manipulators-div.pdf
ISSN	02635747
e-ISSN	14698668
DOI	10.1017/s0263574721001806
Journal	Robotica
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	2021-12-13
Access Restriction	Open
Subject Keyword	Robotica Interdisciplinary Mathematics Numerical Simulations Parallel Manipulators Algebraic Formulation Kinematic Chains Geometric Formulation
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software

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