Analysis of simplified position and 5-DOF total orientation workspaces of a hexapod mechanism

Lee, T.C.; Perng, Ming-Hwei

doi:10.1016/j.mechmachtheory.2007.01.007

Cited by 12 publications

(6 citation statements)

References 18 publications

(23 reference statements)

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“…All nine cardinal curves can be found from (3), (7), (9), and (11) in a closedform. Wherever the coupler curve equation is needed, the solution given in [31] is used.…”

Section: B Auxiliary Points and Curvesmentioning

confidence: 99%

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Lateral reachable workspace of axially symmetric mobile machining hexapod robots

Agheli

Nestinger

2012

Proceedings of 2012 IEEE/ASME 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

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Mobile machines allow for remote repair and maintenance within constrictive, hazardous, and inaccessible environments. Hexapod robots are a salient solution to mobile machines due to their maneuverability and controllable orientation. One important aspect of mobile machines is the reachable workspace of the currently loaded tooling. Generally, machining operations are restricted to planar motion operating within the lateral plane of the mobile machines. This paper introduces an analytical methodology for finding the lateral reachable workspace of an axially symmetric hexapod robots used as mobile machining systems. The closed-form solution to the lateral reachable workspace of axially symmetric hexapod robots is facilitated by the correlation of the lateral motion of a hexapod robot with an equivalent 2-RPR planar parallel mechanism. Since the solution is closed-form, it has high accuracy and reliability.

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“…All nine cardinal curves can be found from (3), (7), (9), and (11) in a closedform. Wherever the coupler curve equation is needed, the solution given in [31] is used.…”

Section: B Auxiliary Points and Curvesmentioning

confidence: 99%

“…A number of researchers have studied the orientation workspace of different types of planar and spatial parallel manipulators [3][4][5][6][7][8][9]. However, their work either did not study the RW or presented a numerical solution for the RW.…”

Section: Introductionmentioning

confidence: 99%

Lateral reachable workspace of axially symmetric mobile machining hexapod robots

Agheli

Nestinger

2012

Proceedings of 2012 IEEE/ASME 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

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“…To achieve total orientation workspace (TOW) of the manipulator [24], let the end-effector rotate ±θ mx , ±θ my …”

Section: Total Orientation Workpacementioning

confidence: 99%

Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM

Aref

Taghirad

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-KNTU CDRPM is a cable driven redundant parallel manipulator, which is under investigation for possible high speed and large workspace applications. This newly developed mechanisms have several advantages compared to the conventional parallel mechanisms. Its rotational motion range is relatively large, its redundancy improves safety for failure in cables, and its design is suitable for long-time high acceleration motions. In this paper, collision-free workspace of the manipulator is derived by applying fast geometrical intersection detection method, which can be used for any fully parallel manipulator. Implementation of the algorithm on the Neuron design of the KNTU CDRPM leads to significant results, which introduce a new style of design of a spatial cable-driven parallel manipulators. The results are elaborated in three presentations; constant-orientation workspace, total orientation workspace and orientation workspace.

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“…For example, Lee et al presented a closed-form solution for the radii of the inscribed and circumscribed circles of the (3-DOF) positional workspace and also the approximate solutions for the (5-DOF) total orientation workspace at a given height in the design of a hexapod mechanism [16].…”

Section: Introductionmentioning

confidence: 99%

A geometric approach to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function

Wang

et al. 2016

Robotics and Computer-Integrated Manufacturing

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Analysis of simplified position and 5-DOF total orientation workspaces of a hexapod mechanism

Cited by 12 publications

References 18 publications

Lateral reachable workspace of axially symmetric mobile machining hexapod robots

Lateral reachable workspace of axially symmetric mobile machining hexapod robots

Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM

A geometric approach to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function

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