Determining the Maximal Singularity-free Circle or Sphere of Parallel Mechanisms Using Interval Analysis
| Autor: | Mohammad Hadi Farzaneh Kaloorazi, Mehdi Tale Masouleh, Stéphane Caro |
|---|---|
| Přispěvatelé: | University of Tehran, Centre National de la Recherche Scientifique (CNRS), Robots and Machines for Manufacturing, Society and Services (RoMas), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT) |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
General Mathematics 02 engineering and technology Center (group theory) Kinematics Workspace Topology singularity Computer Science Applications Interval arithmetic [SPI.AUTO]Engineering Sciences [physics]/Automatic Constraint (information theory) Computer Science::Robotics [SPI]Engineering Sciences [physics] 020303 mechanical engineering & transports 020901 industrial engineering & automation Singularity Planar 0203 mechanical engineering Control and Systems Engineering parallel mechanisms Point (geometry) interval analysis Software Mathematics |
| Zdroj: | Robotica Robotica, Cambridge University Press, 2016, 34 (1), pp.135-149. ⟨10.1017/S0263574714001271⟩ |
| ISSN: | 0263-5747 1469-8668 |
| DOI: | 10.1017/S0263574714001271⟩ |
| Popis: | SUMMARYThis paper proposes a systematic algorithm based on the concept of interval analysis to obtain the maximal singularity-free circle or sphere within the workspace of parallel mechanisms. As case studies the 3-RPR planar and 6-UPS parallel mechanisms are considered to illustrate the relevance of the algorithm for 2D and 3D workspaces. To this end, the main algorithm is divided into four sub-algorithms, which eases the understanding of the main approach and leads to a more effective and robust algorithm to solve the problem. The first step is introduced to obtain the constant-orientation workspace and then the singularity locus. The main purpose is to obtain the maximal singularity-free workspace for an initial guess. Eventually, the general maximal singularity-free workspace is obtained. The main contribution of the paper is the proposition of a systematic algorithm to obtain the maximal singularity-free circle/sphere in the workspace of parallel mechanisms. The combination of a maximal singularity-free circle or sphere with the workspace analysis by taking into account the stroke of actuators, as additional constraint to the latter problem, is considered. Moreover, the center point of the circle/sphere is not restrained to a prescribed point. |
| Databáze: | OpenAIRE |
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