A methodology for workspace identification of parallel robots using parametric sweep search method

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

Abstract

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.

Details

Original languageEnglish
Title of host publicationEngineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics
Publication statusPublished - 2014
EventASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014 - Copenhagen, Denmark
Duration: 25 Jul 201427 Jul 2014

Publication series

NameASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
Volume3

Conference

ConferenceASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
CountryDenmark
CityCopenhagen
Period25/07/1427/07/14