Planning Optimal Motions for a DELTA Parallel Robot

Afroun, M.

doi:10.1109/med.2006.236419

Cited by 2 publications

(2 citation statements)

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“…Dash et al [27] presented a numerical technique for path-planning within the workspace of parallel manipulators where isolated singularities have been eliminated based on Grassmann's line geometry and local routing method. Afroun et al [28,29] presented a technique for generating optimal motion for a parallel DELTA robot and Gough parallel robot. In their study, the sequential quadratic programming method was employed for finding the optimal position of the spline control points.…”

Section: Introductionmentioning

confidence: 99%

Mathematical modelling of linear motion error for Hexarot parallel manipulators

Pedrammehr

Qazani

Asayesh

et al. 2016

Applied Mathematical Modelling

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a b s t r a c tHexarot is a robotic manipulator that belongs to the family of axis symmetric parallel mechanisms. The robot is able to move the robot platform or tool center point in six degrees of freedom (DOF). This paper presents the kinematics model of the robot including the inverse and forward kinematics, and its time derivatives. Then using the kinematics formulations, investigation of the nonlinear motion of the Hexarot robot for a desired linear motion path is performed. For this purpose, the concept of curvature of the robot path is used for measuring the nonlinearity of the actual motion of the robot. The nonlinear motion error of the robot is analyzed for the scenario where the platform moves on a linear path between two arbitrary points of the robot workspace. The effects of different parameters on the nonlinear motion error of the mechanism are demonstrated and strategies for motions with low error values are proposed.

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Section: Introductionmentioning

confidence: 99%

Mathematical modelling of linear motion error for Hexarot parallel manipulators

Pedrammehr

Qazani

Asayesh

et al. 2016

Applied Mathematical Modelling

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“…The approach used hereafter is based on previous works dedicated to serial and parallel manipulators [2] and [4] where a simple direct method was proposed to handle various trajectory planning problems, Thus, the same approach is adopted with some modifications to account for the GOUGH robot particularities.…”

Section: Introductionmentioning

confidence: 99%

Optimal motions planning for a GOUGH parallel robot

Afroun¹,

Chettibi²,

Hanchi³

et al. 2008

2008 16th Mediterranean Conference on Control and Automation

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This article deals with the problem of planning optimal trajectories for a GOUGH parallel robot. The planning process consists of searching for a motion ensuring the accomplishment of the assigned task, minimizing a cost function and satisfying various constraints inherent to the robot kinematics and dynamics. This problem is treated via (i) an adequate parameterization of the operational coordinates of the mobile platform and (ii) the use of the sequential quadratic programming method for solving the resulting nonlinear optimization problem. The proposed approach is applied to tasks involving either point-to-point motions or motions along specified paths.

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Planning Optimal Motions for a DELTA Parallel Robot

Cited by 2 publications

References 0 publications

Mathematical modelling of linear motion error for Hexarot parallel manipulators

Mathematical modelling of linear motion error for Hexarot parallel manipulators

Optimal motions planning for a GOUGH parallel robot

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