Workspace Analysis of a Novel Parallel Robot Named 3-R2H2S with Three Freedoms

Wang, Xinjie; Zhang, Chaohui; Wang, Caidong; Zheng, Hui

doi:10.19026/rjaset.6.3600

Cited by 2 publications

(2 citation statements)

References 6 publications

(3 reference statements)

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“…For this case genetic algorithm is used to find the global optimal condition. The volume (volume of work space) tolerance for finding the optimal size is set to 10mm 3 . Genetic algorithm is a method to solve both constrained and unconstrained optimization problems and is inspired from biological evolution.…”

Section: B Optimal Work Spacementioning

confidence: 99%

“…Work space of a 3RPS parallel manipulator is computed using cylindrical algebraic decomposition method in [2]. [3] describes a parallel robot 3-R2H2S to meet the needs of sorting and packing in drug and food industries. After computing the kinematic model, its work space is being analyzed using boundary search method through MATLAB and ADAMS.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimal work space of parallel continuum manipulator consisting of compact bionic handling arms

Singh¹,

Singh²,

Pathak³

2017

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-Parallel continuum manipulators are the main research focus these days. Parallel manipulators have other advantages than serial manipulators in terms of acceleration and positioning. In this work, we proposed the use of two Compact Bionic Handling Arm (CBHA) manipulators, attaching them to a common platform, to constitute a parallel continuum manipulator. A relation is developed for optimal platform length as a function of the inter-distance between bases of two arms, by using optimization of the volume of the common work space realized from multiple CBHA. The work is extended to parallel continuum manipulator consisting of three CBHA manipulators. Same for this case, after identifying work space of this parallel continuum manipulator, a relation is developed between different design parameters of manipulator using optimization of volume of its work space. As the work space is the main limitation in case of parallel manipulators, this approach to generate relation is useful for rigid as well as continuum manipulators to design them for optimal work space as per required application.

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Section: B Optimal Work Spacementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%