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A geometric approach for the workspace analysis of two symmetric planar parallel manipulators
| Content Provider | Scilit |
|---|---|
| Author | Bihari, Banke Kumar, Dhiraj Jha, Chandan Rathore, Vijay S. Dash, Anjan Kumar |
| Copyright Year | 2014 |
| Description | SUMMARY The workspace is often a critical parameter for optimum design of parallel manipulators. Workspace shape and area are two important considerations under this. In this paper, 5-R and 3-RRR planar parallel manipulators having symmetric link lengths are considered for workspace analysis. Here, symmetric means that the lengths of the first and second links of the legs are the same in all branches. Workspace analysis for such manipulators is normally done in a nondimensional way. The determination of the workspace area is one of the important parameters in the optimum design of a manipulator, and the determination of the area in terms of nondimensional parameters is extremely difficult in the case of 3-DOF and higher-DOF manipulators. In this paper, a geometric method is presented to determine different workspace shapes and areas. Based on this, all possible shapes of workspace are presented for both 5-R and 3-RRR planar parallel manipulators. For each case, a geometrical relationship between the link lengths is determined. The geometric approach gives a closed-form expression for the area calculation, which is not possible when adopting a nondimensional approach. In addition, this approach provides relationships between workspace shape and area and link lengths. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/5EE02FD6A1E9FAF0AD6C0ADB8774CA97/S0263574714001830a.pdf/div-class-title-a-geometric-approach-for-the-workspace-analysis-of-two-symmetric-planar-parallel-manipulators-div.pdf |
| Ending Page | 763 |
| Page Count | 26 |
| Starting Page | 738 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574714001830 |
| Journal | Robotica |
| Issue Number | 4 |
| Volume Number | 34 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2016-04-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica rrr Planar Parallel Manipulators Workspace Shape Workspace Area Geometrical Approach |
| 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 |
