Interval-Analysis-Based Determination of the Singularity-free Workspace of Gough-Stewart Parallel Robots
Publish place: 21th Iranian Conference on Electric Engineering
Publish Year: 1392
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICEE21_533
تاریخ نمایه سازی: 27 مرداد 1392
Abstract:
This paper proposes a systematic interval-based algorithm in order to obtain the maximal singularity-free sphere of 6-DOF parallel robots and as case study the 6-UPSparallel robot is considered. To this end, the main algorithm is divided into three sub-algorithms—for obtaining the constantorientation workspace, the singularity loci and the maximal singularity-free workspace—which eases the understanding of the main approach and leads to a more effective and robustalgorithm to solve the problem. The main contribution of this work can be regarded as the combination of the maximal singularity-free sphere with the workspace analysis as additional constraint to the problem
Authors
M. Hadi Farzaneh Kaloorazi
University of Tehran
St´ephane Caro
IRCCyN/CNRS, UMR ۶۵۹۷, ۱ rue de la No¨e, ۴۴۳۲۱ Nantes, France