Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis

FarzanehKaloorazi, MohammadHadi; Masouleh, Mehdi Tale; Caro, Stéphane

doi:10.1007/978-3-319-06698-1_34

Cited by 4 publications

(1 citation statement)

References 12 publications

(16 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In ref. [12], the collision-free workspace of a planar PM is investigated. This paper aims at extending the latter study by proposing a general concept to be applicable to 6-DOF PMs, such as Gough-Stewart platform.…”

Section: Introductionmentioning

confidence: 99%

Collision-free workspace of parallel mechanisms based on an interval analysis approach

FarzanehKaloorazi¹,

Masouleh²,

Caro³

2016

Robotica

Self Cite

View full text Add to dashboard Cite

SUMMARYThis paper proposes an interval-based approach in order to obtain the obstacle-free workspace of parallel mechanisms containing one prismatic actuated joint per limb, which connects the base to the end-effector. This approach is represented through two cases studies, namely a 3-RPR planar parallel mechanism and the so-called 6-DOF Gough–Stewart platform. Three main features of the obstacle-free workspace are taken into account: mechanical stroke of actuators, collision between limbs and obstacles and limb interference. In this paper, a circle(planar case)/spherical(spatial case) shaped obstacle is considered and its mechanical interference with limbs and edges of the end-effector is analyzed. It should be noted that considering a circle/spherical shape would not degrade the generality of the problem, since any kind of obstacle could be replaced by its circumscribed circle/sphere. Two illustrative examples are given to highlight the contributions of the paper.

show abstract

Section: Introductionmentioning

confidence: 99%

Collision-free workspace of parallel mechanisms based on an interval analysis approach

FarzanehKaloorazi¹,

Masouleh²,

Caro³

2016

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

A general approach on collision-free workspace determination via triangle-to-triangle intersection test

Danaei

Karbasizadeh

Masouleh

2017

Robotics and Computer-Integrated Manufacturing

View full text Add to dashboard Cite

Simultaneous task placement and sequence optimization in an inspection robotic cell

FarzanehKaloorazi¹,

Bonev²,

Birglen³

2021

Robotica

Self Cite

View full text Add to dashboard Cite

In this article, we improve the efficiency of a turbine blade inspection robotic workcell. The workcell consists of a stationary camera and a 6-axis serial robot that is holding a blade and presenting different zones of the blade to the camera for inspection. The problem at hand consists of a 6-DOF (degree of freedom) continuous optimization of the camera placement and a discrete combinatorial optimization of the sequence of inspection poses (images). For each image, all robot configurations (up to eight) are taken into consideration. A novel combined approach is introduced, called blind dynamic particle swarm optimization (BD-PSO), to simultaneously obtain the optimal design for both domains. The objective is to minimize the cycle time of the inspection process, while avoiding any collisions. Even though PSO is vastly used in engineering problems, the novelty of our combinatorial optimization method is in its ability to be used efficiently in traveling salesman problems where the distances between the cities are unknown and subject to change. This highly unpredictable environment is the case of the inspection cell where the cycle time between two images will change for different camera placements.

show abstract

Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis

Cited by 4 publications

References 12 publications

Collision-free workspace of parallel mechanisms based on an interval analysis approach

Collision-free workspace of parallel mechanisms based on an interval analysis approach

A general approach on collision-free workspace determination via triangle-to-triangle intersection test

Simultaneous task placement and sequence optimization in an inspection robotic cell

Contact Info

Product

Resources

About