Extreme reaches and maximal reachable workspace for rotary tools mounted on a Stewart platform manipulator

Autor:	Ka‐Tjun Oen, Li-Chun T. Wang
Rok vydání:	2006
Předmět:	Engineering Mobile manipulator business.industry General Engineering Parallel manipulator Control engineering Stewart platform Kinematics Computer Science::Robotics Mechanism (engineering) Control theory Orientation (geometry) Robot Actuator business
Zdroj:	Journal of the Chinese Institute of Engineers. 29:967-974
ISSN:	2158-7299 0253-3839
DOI:	10.1080/02533839.2006.9671197
Popis:	A new type of problem associated with the extreme reaches of the Stewart platform manipulator is dealt with in this paper. Given a specified orientation of the tool axis, the problem involves finding the extreme distance that the tool bit mounted on the mobile platform can reach from its home position along any specified direction. During the motion, the mobile platform is allowed to be rotated about the tool axis to adjust the configuration of the driving mechanism to prevent premature activation of the kinematic constraints. A numerical optimization algorithm based on the concept of the cyclic coordinate descent method is developed for solving this problem, in which all three types of kinematic constraints, namely the actuator stroke constraint, the passive joint limitations, and the link interference conditions, have been taken into account. In addition, a numerical example is presented to demonstrate the ability of the proposed method to find the optimal reachable workspace of the robot.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::3b6d043cbf5bad1d231205e7da899de0 https://doi.org/10.1080/02533839.2006.9671197 Zobrazit plný text záznamu