CAD-based Workspace Analysis of a 6-DOF Foldable Parallel Manipulator with a Circular Rail (FoldRail Manipulator)

被引：1
作者：
Kiselev, Sergey, V [1 ]
Fomin, Alexey S. [1 ]
Antonov, Anton, V [1 ]
机构：
[1] Russian Acad Sci IMASH RAN, Mech Engn Res Inst, Moscow 101000, Russia
来源：
2024 6TH INTERNATIONAL CONFERENCE ON RECONFIGURABLE MECHANISMS AND ROBOTS, REMAR 2024 | 2024年
基金：
俄罗斯科学基金会;
关键词：
KINEMATIC ANALYSIS; DESIGN; MECHANISM;
D O I：
10.1109/REMAR61031.2024.10617617
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Nowadays, computer-aided design (CAD) finds many applications in the development and analysis of manipulators and robots. It accurately reflects the design features of the considered mechanical system, including the geometry and material of its links. This article applies CAD tools to analyze a workspace of a 6-DOF foldable parallel manipulator with a circular rail (FoldRail manipulator). The article proposes an algorithm to determine a translation (constant orientation) workspace of the manipulator using a geometrical method implemented in the SolidWorks software. The combination of this method and a CAD model of the manipulator allows considering all of its design features. The results are presented for the horizontal and tilted orientations of the output link.
引用
收藏
页码：336 / 340
页数：5
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