A Methodology for Determining the Reachable and Dexterous Workspace of Parallel Manipulators

Wang, Zhongfei; Ji, Shiming; Sun, Jianbao; Ou, Changjin; Wan, Yang; Li-min, Zheng

doi:10.1109/icma.2007.4304015

Cited by 8 publications

(16 citation statements)

References 15 publications

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“…This definition is proved [10] to suit for other prescribed performances indices and prescribed orientation capability.…”

Section: Problems Descriptionmentioning

confidence: 97%

“…According to [10], when the various physical constraints are considered, the reachable workspace of a general PM can be defined as…”

Section: Problems Descriptionmentioning

confidence: 99%

“…In this paper, following the previous paper [10], we propose a numerical methodology for determining the maximal regular-shaped dexterous workspace (MRsDW) of a general PMs with prescribed dexterity for the optimal design and comparison of the PMs. In our previous paper [10], a unified numerical method termed the stratified workspace boundary determining methodology (SWBDM) for determining the reachable and dexterous workspace of PMs was proposed.…”

Section: Introductionmentioning

confidence: 99%

“…In the procedure of determining the dexterous workspace, we have some useful information which are help for determining the MRsDW enclosed in the dexterous workspace. Finally, the proposed method in this paper and the method in [10] form a set of tools to determine the reachable, dexterous workspace, and the MRsDW of general PMs.…”

Section: Introductionmentioning

confidence: 99%

“…In our previous paper [10], a unified numerical method termed the stratified workspace boundary determining methodology (SWBDM) for determining the reachable and dexterous workspace of PMs was proposed. The validity and efficiency of this numerical method were proved by determination of the planar Stewart platform and linear Delta robot workspaces.…”

Section: Introductionmentioning

confidence: 99%

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A Methodology for Determining the Maximal Regular-shaped Dexterous Workspace of the PMs

Wang

Sun

et al. 2007

2007 International Conference on Mechatronics and Automation

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A methodology for determining the maximal regular-shaped dexterous workspace (MRsDW) of parallel manipulators (PMs) is proposed. The MRsDW is the maximal subset of the dexterous workspace with prescribed dexterity, and has a regular shape such as a circle or rectangle for the planar and a cuboid or cylinder for the spatial situation. It is one of the objects of optimal design of the PMs while the workspace size and shape are considered. The concept of the utilizable ratio of dexterous workspace (URDW) is introduced, which is a new measure for the rationality of design parameters of a PM. The methodology based on the stratified workspace boundary search technique can determine both the dexterous workspace and their MRsDW. After the problem of determination of the MRsDW is defined formally, a numerical method is proposed to solve this problem by three algorithms. Finally, the validity and efficiency of the proposed method are verified through application of the 2-DOF planar PM and the linear Delta robot.

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“…This definition is proved [10] to suit for other prescribed performances indices and prescribed orientation capability.…”

Section: Problems Descriptionmentioning

confidence: 97%

“…According to [10], when the various physical constraints are considered, the reachable workspace of a general PM can be defined as…”

Section: Problems Descriptionmentioning

confidence: 99%