Connecting Assembly Modes for Workspace Enlargement

Hesselbach, Jiirgen; Helm, M.; Soetebier, Sven

doi:10.1007/978-94-017-0657-5_37

Cited by 14 publications

(16 citation statements)

References 3 publications

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“…Those singularities are present inside the workspace of the robot and divide it in different parts [23] in such a way that the robot cannot attain every point of its workspace without crossing a parallel singularity, as shown in Section 6. Since the small size of the workspace of parallel robots is one of their main drawbacks, it becomes essential to be able to cross parallel singularities in order to exploit as much as possible their intrinsically restricted workspace [8]. However, the motion of the robot is not easily controllable when crossing such points, and the mechanism may experience high forces and torques that can damage the system.…”

Section: Kinematics and Singularity Analysis Of Parallel Robotsmentioning

confidence: 99%

A Web-based Tool to Analyze the Kinematics and Singularities of Parallel Robots

Peidró

Gil

Marı́n

et al. 2015

J Intell Robot Syst

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This paper presents PAROLA, a new webbased educational tool whose aim is to experiment with the kinematics and singularities of parallel robots. The tool is designed to help students simulate the inverse and forward kinematic problems of three parallel robots in an intuitive and graphical way. The problems of singularities and path planning can also be studied with the tool. PAROLA is the first tool to present the motion of the parallel robots simultaneously in the Cartesian and joint spaces to better explain the singularity and path planning problems, allowing students to freely modify the geometry of the robots to analyze the variation of singularities in both spaces. Furthermore, the tool includes a real parallel robot that the students can control over the Internet to conduct remote experiments. The paper describes some examples that show the utility of the proposed tool in learning parallel robotics.A. Peidró ( ) · A. Gil · J. María Marín ·Ó. Reinoso

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Section: Kinematics and Singularity Analysis Of Parallel Robotsmentioning

confidence: 99%

A Web-based Tool to Analyze the Kinematics and Singularities of Parallel Robots

Peidró

Gil

Marı́n

et al. 2015

J Intell Robot Syst

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“…그러나 전자, 포장, 식품, 제약 산업 등에서 많이 요구되는 위치배치, 조립 및 경가공 작업들은 주로 평면 작업 형태를 갖는다. 평면에 작업 외에 자유도가 필요한 경우에는 평면 병렬형 기구에 1~2자유도 기구를 직렬로 연결한 혼합형 구조(hybrid structure)를 사용하는 것이 공 간 병렬형 기구를 사용하는 것보다 경제적일 수 있다 [5][6][7] . 이러한 평면 병렬형 기구는 주로 고속, 고하중, 고정밀도 응용에 이용되므로 강성해석은 초기 설계단계에서 필수적인 요소이다.…”

Section: 서 론unclassified

Stiffness Analysis of Planar Parallel Manipulators with Serially Connected Legs

Kim¹

2014

Journal of manufacturing engineering & technology

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“…Due to the fact that within the workspace of parallel robots singularities occur (see section 3), system inherent reconfiguration without demanding particular mechanical components is feasible. Several research works focus on passing through or avoiding singularities within the workspace [Budde (2010), Hesselbach et al (2002), Wenger (1998)]. Passing actuator singularities, workspaces of different assembly modes can be combined to a larger workspace [Krefft (2006)].…”

Section: Offline Reconfigurationmentioning

confidence: 99%

“…Passing actuator singularities, workspaces of different assembly modes can be combined to a larger workspace [Krefft (2006)]. Hesselbach et al (2002) firstly introduced an approach to cross singularities using inertia of the Tool Center Point. A comprehensive procedure for the passing of singularities as well as the concerning control issues is described in Budde (2008).…”

Section: Offline Reconfigurationmentioning

confidence: 99%