TY - GEN
T1 - A methodology for workspace identification of parallel robots using parametric sweep search method
AU - Abdullah, Che Zulkhairi
AU - Saadat, Mozafar
AU - Rakhodaei, Hamid
PY - 2014
Y1 - 2014
N2 - In this paper, a methodology for real time identification of various singularities for various workspace types of parallel robots is proposed. Python 3D simulation software has been developed to position the moving platform of the robot's CAD model through pre-defined rules in order to solve specific problems including singularity identification, obstacle avoidance, and path planning. The system is designed to identify the moving platform's best possible pose. Boolean logic is used to identify valid path trajectory through parametric sweep search method. Joint constraints are checked to validate the platforms' positions using the actuators' stroke length, their angles, and any possible collisions. Solutions for any desired pose, based on line collision and mesh model algorithms, are then found. The path, position and workspace data are verified against a kinematic model of the robot, developed in Solid works and Matlab software tools. The simulation system has been successfully tested using various n-dimensional interpolations based on the given case study.
AB - In this paper, a methodology for real time identification of various singularities for various workspace types of parallel robots is proposed. Python 3D simulation software has been developed to position the moving platform of the robot's CAD model through pre-defined rules in order to solve specific problems including singularity identification, obstacle avoidance, and path planning. The system is designed to identify the moving platform's best possible pose. Boolean logic is used to identify valid path trajectory through parametric sweep search method. Joint constraints are checked to validate the platforms' positions using the actuators' stroke length, their angles, and any possible collisions. Solutions for any desired pose, based on line collision and mesh model algorithms, are then found. The path, position and workspace data are verified against a kinematic model of the robot, developed in Solid works and Matlab software tools. The simulation system has been successfully tested using various n-dimensional interpolations based on the given case study.
KW - Parallel robot
KW - Singularity
KW - Workspace
UR - http://www.scopus.com/inward/record.url?scp=84916886703&partnerID=8YFLogxK
U2 - 10.1115/ESDA2014-20410
DO - 10.1115/ESDA2014-20410
M3 - Conference contribution
AN - SCOPUS:84916886703
T3 - ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
BT - Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics
PB - Web Portal ASME (American Society of Mechanical Engineers)
T2 - ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
Y2 - 25 July 2014 through 27 July 2014
ER -