Workspace Modelling of a Parallel Robot with Relative Manipulation Mechanisms Based on Optimization Methods

Malyshev, Dmitry; Rybak, Larisa; Behera, Laxmidhar; Mohan, Santhakumar

doi:10.1007/978-3-030-30036-4_13

Cited by 3 publications

(2 citation statements)

References 5 publications

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“…, 6: g 1 = l min − l 1 , g 2 = l min − l 2 , g 3 = l min − l 3 , g 4 = l 1 − l max , g 5 = l 2 − l max , g 6 = l 3 − l max . Let us approximate the set of solutions of system (8) for transferring the constraint of input coordinates according to (7) and (19) into the space of coordinates z 1 , θ, ψ of the moving platform. The approximated set is a covering consisting of n-dimensional boxes.…”

Section: Algorithm Synthesismentioning

confidence: 99%

“…Algorithms based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities can be effectively used to determine the workspace. The use of deterministic optimization algorithms based on the concept of nonuniform coverings [17] to determine the workspace of parallel robots is presented in [18,19]. Let us consider applying an approach based on the concept of nonuniform coverings to determine the working and technological areas of robots that are part of a multirobotic system and then identify the positions at which a collision of robots is possible.…”

Section: Introductionmentioning

confidence: 99%

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Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

et al. 2021

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One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the ability to rotate the robot’s base relative to the horizontal axis. The analysis of its working and technological area is carried out, taking into account singularity zones. The developed algorithms for determining the workspaces are based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities. In this case, restrictions in spaces of different coordinates are presented in the form of n-dimensional boxes. Approaches to solving two problems are proposed to determine the possible intersection of links for the collaborative performance of tasks by a multi-robotic system. The first task is to determine the intersection of the links for the given positions and the relative position of the manipulators. The second is in determining the minimum distance between the technological areas of manipulators, which consist of the workspace and all possible positions of the intermediate links.

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Section: Algorithm Synthesismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

et al. 2021

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Design of mechanisms of a robotic system for rehabilitation of the lower limbs

Voloshkin

Virabyan

Mamaev

et al. 2021

IOP Conf. Ser.: Mater. Sci. Eng.

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The article describes the main stages of developing a robotic system for the rehabilitation of the lower limbs based on the “tripteron” robot. The structure of a robotic system has been designed, consisting of a 3-PRRR parallel mechanism, which provides the angles of rotation of all joints of the patient’s leg required for rehabilitation and a passive orthosis for supporting the limb. At the first stage, the positions of the active mechanism links are determined. The output link of only one kinematic chain, making a translational movement in the vertical direction, will experience a maximum load. A design diagram of this kinematic chain was built, and the reactions of the supports were determined at the second stage. At the third stage, kinematic dependences were obtained, and an engine was selected that would provide the required torque at the required speeds.

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Constrained Multi-objective Robot’s Design Optimization

Maminov

Posypkin

2020

2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (EIConRus)

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Workspace Modelling of a Parallel Robot with Relative Manipulation Mechanisms Based on Optimization Methods

Cited by 3 publications

References 5 publications

Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

Design of mechanisms of a robotic system for rehabilitation of the lower limbs

Constrained Multi-objective Robot’s Design Optimization

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