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

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

doi:10.1017/s0263574716000497

Cited by 24 publications

(18 citation statements)

References 38 publications

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“…They include the actuators' expansion amount, the upper and lower hinge angles, the beginning and the intermediate transition platforms, as well as the intermediate support platform. According to the constraint equations (6), (10), (12), (18), (19), and (40) described above, the workspace of platforms 2 and 3 at pose (u x , u y , u z ) = (0, 0, 0) can be obtained, and the results were shown in Figures 13 and 14.…”

Section: By Comparingmentioning

confidence: 99%

“…Therefore, to avoid collisions and improve efficiency, some scholars have begun to study the collision-free workspace. [16][17][18] A notable example is an obstacle-free workspace of the parallel mechanisms with an intervalbased approach obtained Farzanehkaloorazi et al 19 In this article, a bogie 6-degree-of-freedom (6-DOF) dynamic simulation test bench 20 was analyzed. It is a parallel mechanism composed of three 6-DOF motion platforms, there are 21 actuators to drive it.…”

Section: Introductionmentioning

confidence: 99%

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Workspace analysis of the bogie 6-degree-of-freedom dynamic simulation test bench

Liu

Zhuang

Wang

et al. 2019

Advances in Mechanical Engineering

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The bogie 6-degree-of-freedom dynamic simulation test bench can simulate various operating conditions of the bogie through coordinated movement of the three parallel 6-degree-of-freedom motion platforms; however, the motion of the platforms will be interfered by some space obstacles. In order to obtain the collision-free workspace of the 6degree-of-freedom motion platforms, a limit boundary-search method based on the collision-detection model is proposed. The structure of three parallel 6-degree-of-freedom motion platforms is analyzed, and its inverse kinematics model is established. Considering its internal constraints, the constraint models of the actuators' stroke and the spherical hinges angle are established. Based on the collision-detection method between convex polygons, the minimum distancedetection models between platforms and obstacles as well as between actuators and obstacles are established. Then the limit boundary-search method is used to search for all boundary points that satisfy the constraint conditions. Finally, the correctness and feasibility of the proposed method and models are verified by some simulation examples. The proposed research avoids collisions effectively and provides a reference for the optimal design of the test bench.

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Section: By Comparingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Workspace analysis of the bogie 6-degree-of-freedom dynamic simulation test bench

Liu

Zhuang

Wang

et al. 2019

Advances in Mechanical Engineering

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“…Compared with traditional robotic manipulators, redundant robotic manipulators are more flexible due to their redundant degree of freedoms (DOFS). While executing the main given end-effector task, the redundant robotic manipulators can avoid environment obstacles, [9][10][11][12][13] joint physical limits, 14,15 and singularities. 16 In some complex tasks, such as handling heavy objects, assembling complex parts, and cooking, dual manipulators can complete the aforementioned tasks well while single manipulator cannot.…”

Section: Introductionmentioning

confidence: 99%

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Jia¹,

Chen²,

Zhang³

et al. 2019

Robotica

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SUMMARYIn order to solve joint-angle drift problem of dual redundant manipulators at acceleration-level, an acceleration-level tri-criteria optimization motion planning (ALTC-OMP) scheme is proposed, which combines the minimum acceleration norm, repetitive motion planning, and infinity-norm acceleration minimization solutions via weighting factor. This scheme can resolve the joint-angle drift problem of dual redundant manipulators which will arise in single criteria or bi-criteria scheme. In addition, the proposed scheme considers joint-velocity joint-acceleration physical limits. The proposed scheme can not only guarantee joint-velocity and joint-acceleration within their physical limits, but also ensure that final joint-velocity and joint-acceleration are near to zero. This scheme is realized by dual redundant manipulators which consist of left and right manipulators. In order to ensure the coordinated operation of manipulators, two motion planning problems are reformulated as two general quadratic program (QP) problems and further unified into one standard QP problem, which is solved by a simplified linear-variational-inequalities-based primal-dual neural network at the acceleration-level. Computer-simulation results based on dual PUMA560 redundant manipulators further demonstrate the effectiveness and feasibility of the proposed ALTC-OMP scheme to resolve joint-angle drift problem arising in the dual redundant manipulators.

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“…The IA-based design allows to implement a design-to-workspace approach. 15 IA is largely used for continuous analysis of problems; a single number is substituted by a range of values called an interval, which may serve to encapsulate a set of uncertainties on design variables. For n-dimensional space, a vector is called an interval vector or a box; hence a desired workspace is given as ranges and not as a grid of points.…”

Section: Introductionmentioning

confidence: 99%

“…In contrast, the cost of this benefit is high computational time. 15 Considering the design of CDPMs, IA guarantees certified solutions with no singularities or collisions over the workspace.…”

Section: Introductionmentioning

confidence: 99%

Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine

et al. 2019

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Summary This paper deals with a continuous design task of a planar cable robot used in a gait training machine called the cable-driven legs trainer. The design of cable robots requires satisfying two constraints, that is, tensions in the cables must remain non-negative, and cable interferences should be avoided. The carried design approach is based on interval analysis, which is one of the most efficient methods to obtain certified results. The constraints of non-negative tensions and cable to end-effector interference are solved using interval analysis tools. By means of a dynamic simulation, the reached workspace and the produced wrenches of the cable robot are evaluated as a set of interval vectors. An optimization algorithm is then designed to optimize the cable robot structure for the gait training machine. The robot is designed to produce non-negative tensions in the cables and to avoid collision at all times within the desired workspace and under the required external loads.

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

Cited by 24 publications

References 38 publications

Workspace analysis of the bogie 6-degree-of-freedom dynamic simulation test bench

Workspace analysis of the bogie 6-degree-of-freedom dynamic simulation test bench

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine

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