Issues of planning trajectory of parallel robots taking into account zones of singularity

Rybak, Larisa; Khalapyan, S. Y.; Gaponenko, E. V.

doi:10.1088/1757-899x/327/4/042092

Cited by 10 publications

(5 citation statements)

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“…where Θ, r are the known geometric parameters of the mechanism, l min and l max are the limiting values of the rod lengths, taking into account the necessary remoteness from the boundaries of the working space [4,5,13], J(x i , y i , φ i ) and J min is the Jacobian and its minimum allowable value, taking into account the necessary remoteness from points of singularity [14].…”

Section: Positioning Trajectories Durationmentioning

confidence: 99%

“…Optimization of the positioning trajectory is a complex scientific task of the mechanism output link safe motion trajectory C 0 C 1 C K determination on a uniform discrete grid ensuring a minimum of the total positioning time t. Safe motion is the movement at a distance not less than the specified from the boundaries of the working area and mechanism singularity zones [2], determined by its geometric characteristics [9,14] and also from the surface of the workpiece. The described limitations can be specified both in the form of corresponding inequalities and in the form of an array of discrete points forbidden or allowed to be included in the trajectory.…”

Section: Introductionmentioning

confidence: 99%

“…The described limitations can be specified both in the form of corresponding inequalities and in the form of an array of discrete points forbidden or allowed to be included in the trajectory. As shown in [14] and [9], the output coordinates x, y, φ (Fig. 2) of this mechanism (working space) are limited by the range of permissible lengths of the drive links and area where the Jacobian sign is constant.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Synthesis of Parallel Robots Optimal Motion Trajectory Planning Algorithms

Khalapyan¹,

Rybak²,

Malyshev³

et al. 2019

dtcse

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The article considers the problem of planning the optimal trajectory of the tripod robot movement. The movement of the output link includes working displacements that are performed for the purpose of machining the workpiece and are completely determined by the surface of the workpiece, as well as the movement of the tool to the beginning of the next stage of processing, which can be relatively free, however, taking into account working area and workpiece surface limitations. The working area is limited by the range of permissible lengths of the drive links and the sign of the Jacobian. Additional restrictions are introduced, related to the dimensions of the workpiece. Chebyshev's metric makes a significant ambiguity in the choice of the trajectory. Therefore, it is proposed to supplement the original objective function with the Euclidean metric taken with a small weighting factor. Optimization was carried out with restrictions on the size of the working area and workpiece.

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Section: Positioning Trajectories Durationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Synthesis of Parallel Robots Optimal Motion Trajectory Planning Algorithms

Khalapyan¹,

Rybak²,

Malyshev³

et al. 2019

dtcse

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show abstract

“…As a rule, the design of energy-efficient mechanisms with parallel kinematics requires additional study to determine their design characteristics in order to provide the given parameters of its working space [5,6,7], to define optimal trajectories, as well as dynamic and inertial characteristics [8,9,10].…”

Section: Introductionmentioning

confidence: 99%

Dynamic model of a robotic platform with 6 degrees of freedom

Khurtasenko

Chuev

Rybak

2022

J. Phys.: Conf. Ser.

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The paper presents the study of kinematic and dynamic characteristics of the robotic mobility platform (RMP) to determine inertia-force parameters depending on the nature of the implemented motion path. The method is implemented on the basis of parameterized digital simulation models with parallel kinematics, which allow determining acceleration and force response in the joints of structural components at given geometric parameters of the platform design.

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“…Повышение эффективности конструкций оборудования на базе механизмов с параллельной структурой решается ряд технических задач, связанных как с определением характеристик, обеспечивающих заданные параметры рабочего пространства [9][10][11], так и с определением динамических и инерционных характеристик [12][13][14][15].…”

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Dynamic Model of a Platform With 6 Degrees of Mobility

Hurtasenko¹,

Chuev

Rybak

et al. 2023

Bulletin of Belgorod State Technological University Named After. V. G. Shukhov

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This article discusses and analyzes mechanisms based on the principles of parallel kinematics, designed to perform various technological actions, with the movement of the executive body along complex spatial trajectories. Mechanisms with parallel structures have wide possibilities for solving various problems of application of equipment and technologies. Promising are the tasks associated with the use of mobile bases in various simulators to gain skills in controlling equipment (aircraft, cars, specialized military equipment). To conduct research on kinematic and dynamic characteristics, a digital layout of the platform has been developed – a parameterized 3D model in a CAD system. The platform represents a system with six degrees of mobility, which are implemented on the basis of a mechanism with a parallel structure. A description of a dynamic simulation model with six degrees of mobility developed using the MSC Adams software environment is given. The model is intended for research at the stage of design work in the development of simulators of various vehicles. The developed dynamic model was tested in order to implement a methodology for conducting research on the kinematic and dynamic characteristics of the platform based on simulation modeling. The results determining the capabilities of the model for determining the dynamic and force parameters in individual elements of the platform at the specified geometric parameters of the platform design are presented. The methodology of studying the digital layout of the platform by simulation modeling consisted in the execution of the accepted trajectories by the model, taking into account the technical characteristics of the actuators. At the same time, certain dynamic indicators were recorded and processed. As a result, graphs of changes in velocities and accelerations of the center of mass, as well as force characteristics (the sum of forces applied to the body in the hinge) when performing the corresponding trajectories are constructed.

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Issues of planning trajectory of parallel robots taking into account zones of singularity

Cited by 10 publications

References 0 publications

Synthesis of Parallel Robots Optimal Motion Trajectory Planning Algorithms

Synthesis of Parallel Robots Optimal Motion Trajectory Planning Algorithms

Dynamic model of a robotic platform with 6 degrees of freedom

Dynamic Model of a Platform With 6 Degrees of Mobility

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