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
相关论文
共 50 条
  • [31] Singularity analysis of 6-DOF parallel manipulator with local structurization method
    Kim, D
    Chung, W
    Youm, Y
    IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, 1996, : 1466 - 1471
  • [32] Dimensional synthesis of 6-DOF parallel manipulator based on the inverse kinematics
    Yao, Yu
    Zhang, Yifeng
    Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2009, 45 (01): : 9 - 13
  • [33] Kinematics Analysis of a 6-DOF Riveting Manipulator based on ADAMS
    Liu, En
    Zeng, Kai
    Yuan, Shengwan
    Cui, Gangwei
    He, Xiaocong
    Ding, Yanfang
    Ma, Zhiwen
    ADVANCES IN MATERIALS AND MATERIALS PROCESSING IV, PTS 1 AND 2, 2014, 887-888 : 1257 - +
  • [34] Design and kinematic analysis of a 6-DOF foldable/deployable Delta parallel manipulator with spherical wrist for an I-AUV
    Simoni, Roberto
    Ridao Rodriguez, Pere
    Cieslak, Patryk
    Weihmann, Lucas
    Carboni, Andrea Piga
    OCEANS 2019 - MARSEILLE, 2019,
  • [35] Development and evaluation of miniaturized 6-DOF parallel link manipulator
    Kobayashi, Ryujiro
    Tsuboi, Ryo
    Sasaki, Shinya
    EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV, 2012, 523-524 : 756 - +
  • [36] DESIGN SYSTEM AND SIMULATION CONTROL OF THE 6-DOF PARALLEL MANIPULATOR
    Rattawut, Vongvit
    Tao, Zhu Hai
    ADVANCED MATERIALS DESIGN AND MECHANICS, 2012, 569 : 674 - 678
  • [37] Modeling of a 6-DOF Parallel Manipulator Driven by Pneumatic Muscles
    Meng, Deyuan
    Wei, Wei
    Tang, Chaoquan
    Wang, Weiping
    Ding, Xingwang
    2017 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2017, : 688 - 692
  • [38] Control of a 6-DOF parallel manipulator through a mechatronic approach
    Rosario, J. M.
    Dumur, D.
    Machado, J. A. T.
    JOURNAL OF VIBRATION AND CONTROL, 2007, 13 (9-10) : 1431 - 1446
  • [39] A 6-DOF adaptive parallel manipulator with large tilting capacity
    Huang, Hailin
    Li, Bing
    Deng, Zongquan
    Hu, Ying
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2012, 28 (02) : 275 - 283
  • [40] Dimensional Design and Performance Analysis of a 6-DOF Parallel Manipulator with Two Limbs
    Xie Z.
    Cheng Q.
    Ding J.
    He M.
    Fan N.
    Wu X.
    Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2022, 33 (14): : 1680 - 1690
12345