CAD Based Geometric Procedures for Workspace and Singularity Determination of the 3-R(P)under-barR Parallel Manipulator

被引：7

作者：

Arrouk, Khaled Assad ^{[1
]}

Bouzgarrou, Belhassen Chedli ^{[1
]}

Gogu, Grigore ^{[1
]}

机构：

[1] Clermont Univ, UMR CNRS UBP IFMA 6602, Pascal Inst, F-63000 Clermont Ferrand, France

来源：

MECHANISMS, MECHANICAL TRANSMISSIONS AND ROBOTICS | 2012年 / 162卷

关键词：

CAD tools; parallel manipulators; workspace; singularity; KINEMATIC MACHINES; VELOCITY; DESIGN; LIMBS;

D O I：

10.4028/www.scientific.net/AMM.162.131

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a set of techniques based on the use of CAD geometric approaches for singularity surfaces and total operational workspace and joint space determination. The main emphasis is given to the use of CAD tools used to characterize and analyze the performance of planar parallel robot manipulators. The CAD environment provides powerful tools for the graphical programming and geometric feature handling. This paper points out the effectiveness of such a method in the robot design process. These developments are illustrated by the 3-R (P) under barR planar parallel manipulator case study. All of the proposed geometric algorithms are implemented in the CATIA CAD environment.

引用

页码：131 / 140

页数：10

共 9 条

[1] The Forward Kinematics of 3-R(P)under-barR Planar Robots: A Review and a Distance-Based Formulation
Rojas, Nicolas
Thomas, Federico
IEEE TRANSACTIONS ON ROBOTICS, 2011, 27 (01) : 143 - 150
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[4] Kinematic Performance Analysis of a 3-R(R(P)under-barRGR)RR Planar Parallel Robot
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[5] Singularity analysis of a 3-DOF parallel manipulator with R-P-S joint structure
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[6] Forward Kinematics and Singularity Analysis of a 3-(R)under-barPR Planar Parallel Manipulator
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[7] Direct Kinematic Analysis of the Spatial Parallel Mechanism With 3-R(P)S Structure Based on the Point Pair Relationship
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[8] Analyses of kinematics, statics, and workspace of a 3-RR(P)under-barRR parallel manipulator and its three isomeric mechanisms
Hu, B.
Lu, Y.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2008, 222 (09) : 1829 - 1837
[9] Mobility, Constraint Singularity and Isotropy of the 3-(P)over-bar(R)over-barR(R)over-bar(R)over-bar Translational Parallel Mechanism
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