Determination of Maximal Singularity-Free Workspace of Parallel Mechanisms Using Constructive Geometric Approach

Kaloorazi, Mohammad Hadi Farzaneh; Masouleh, Mehdi Tale; Caro, Stéphane; Gholamali, Behnam Mashhadi

doi:10.1007/978-94-007-7214-4_34

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2016

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“…Most of them dealt with solving the Forward Kinematic Problem (FKP) 18 and obtaining the workspace. 16,19,20 Merlet, in ref. [21], investigated the workspace of PMs.…”

Section: Introductionmentioning

confidence: 99%

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

FarzanehKaloorazi¹,

Masouleh²,

Caro³

2016

Robotica

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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.

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“…Most of them dealt with solving the Forward Kinematic Problem (FKP) 18 and obtaining the workspace. 16,19,20 Merlet, in ref. [21], investigated the workspace of PMs.…”

Section: Introductionmentioning

confidence: 99%