Performance atlases of the workspace for planar 3-DOF parallel manipulators

Robotica ◽  
2000 ◽  
Vol 18 (5) ◽  
pp. 563-568 ◽  
Author(s):  
Xin-Jun Liu ◽  
Jinsong Wang ◽  
Feng Gao
Keyword(s):  
Physical Model ◽  
Optimum Design ◽  
Computer Aided Design ◽  
Solution Space ◽  
Parallel Manipulators ◽  
Performance Characteristics ◽  
Performance Criteria ◽  
Computer Aided ◽  
Aided Design

The design of the robotic mechanisms is most important because they determine the performance characteristics of the robots. This paper concerns the issue of computer-aided design (CAD) for planar 3-DOF parallel robotic mechanisms by means of the physical model of the solution space, which can be used systematically to express the relationships between the performance criteria and all link lengths of one type of the robtic mechanism. The performance atlases of the workspace volume for the manipulators are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented. The results are useful for the optimum design of the robotic mechanisms. This paper proposes a new way for robotic CAD.

Workspace atlases for the computer aided design of the Delta robot

2003 ◽  
Vol 217 (8) ◽  
pp. 861-869 ◽  
Author(s):  
X-J Liu ◽  
J Wang ◽  
H Zheng
Keyword(s):  
Physical Model ◽  
Optimum Design ◽  
Computer Aided Design ◽  
Solution Space ◽  
Parallel Robots ◽  
New Method ◽  
Performance Criteria ◽  
Computer Aided ◽  
Aided Design

Parallel robots lead to complex kinematics equations, so determination of their workspaces is a challenging issue. The workspace of a robot is not fully characterized by its volume alone; the workspace shape is an important aspect as well. In this paper, the geometric determination of the workspace for Delta robots is presented. The workspace (workspace volume and workspace shape) for the robots is studied systematically in ‘the physical model of the solution space’, which is a useful tool to express relationships between the performance criteria and all link lengths of one type of robotic mechanism. Performance atlases of the workspace volume for the robots are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented as well. The physical model of the solution space presents a new method for the computer aided design (CAD) of robotic mechanisms. The results are very useful for obtaining the optimum design of robotic mechanisms.

Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Andrew Johnson ◽  
Xianwen Kong ◽  
James Ritchie
Keyword(s):  
Computer Aided Design ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Workspace Analysis ◽  
Computer Aided ◽  
Aided Design

The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtual-chain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a VC approach to the workspace analysis of parallel manipulators. This method is first outlined before being illustrated by the production of a three-dimensional (3D) computer-aided-design (CAD) model of a 3-RPS parallel manipulator and evaluating it for the workspace of the manipulator. Here, R, P and S denote revolute, prismatic and spherical joints respectively. The VC represents the motion capability of moving platform of a manipulator and is shown to be very useful in the production of a graphical representation of the workspace. Using this approach, the link interferences and certain transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

Optimum Design of Radial-Flow Impellers

1989 ◽  
Vol 203 (4) ◽  
pp. 229-232
Author(s):  
G S Ray ◽  
B K Sinha ◽  
S Majumdar
Keyword(s):  
Optimum Design ◽  
Centrifugal Force ◽  
Computer Aided Design ◽  
High Speed ◽  
Radial Flow ◽  
Design Stage ◽  
Early Design ◽  
Early Design Stage ◽  
Computer Aided ◽  
Aided Design

The paper presents a procedure of computer aided design of high-speed impellers. The configurations are obtained using programs for the strength under the influence of centrifugal force within given constraints. The method provides a tool for optimizing stresses at an early design stage.

Solving reachable workspace of some parallel manipulators by computer-aided design variation geometry

2008 ◽  
Vol 222 (9) ◽  
pp. 1773-1781 ◽  
Author(s):  
Y Lu ◽  
Y Shi ◽  
B Hu
Keyword(s):  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Six Degrees Of Freedom ◽  
Reachable Workspace ◽  
Spline Curves ◽  
Computer Aided ◽  
Design Variation ◽  
Aided Design ◽  
The Given

To shape the workspace of some novel parallel manipulators (PMs) is significant. A novel computer-aided design (CAD) variation geometry approach is proposed to shape and solve the reachable workspace of some PMs with three to six degrees of freedom (DOFs). Some basic techniques are described for designing the simulation mechanism and solving the reachable workspace. The simulation mechanisms of some PMs with three to six DOFs are created. When varying the driving dimensions of the active legs in the given extent, the simulation mechanisms vary correspondingly, and the position components of the moving platform are solved automatically. By transferring the position solutions into spatial spline curves in the simulation mechanism, all the boundary surfaces of the workspace can be created and visualized dynamically. Comparing with analytic approaches for solving workspace, the CAD variation geometry approach is simple, straightforward, accurate, and repeatable.

scholarly journals THE IMPROVEMENT OF COMPUTER-AIDED DESIGN SYSTEM FOR PROPULSION COMPLEXES WITH MEDIUM-SPEED ENGINES

2018 ◽  
pp. 87-92
Author(s):  
Paing Aung Htet
Keyword(s):  
Data Processing ◽  
Computer Aided Design ◽  
Performance Criteria ◽  
Electronic Data Processing ◽  
Design System ◽  
Electronic Data ◽  
Shaft Line ◽  
Medium Speed ◽  
Computer Aided ◽  
Aided Design

The article gives an overview of the directions for the further development of software for computer-aided design systems for propulsion complexes with medium-speed engine. There has been proposed the system of CAD PC with electronic data processing based on the existing development and including the development of electronic data processing and gearbox databases, location of PC equipment on board the ship, determination of the stable dimensions of the shaft line according to the rules of the RF Register and oscillations of the console and span of the maximum length, justification of technical solutions using performance criteria. A typical scheme of computer-aided design has been considered, which includes new sections of computer-aided design with electronic data processing.

A Study on the Representation of Examples in Learning Engineering Concepts

2012 ◽  
Author(s):  
Olufunmilola Atilola ◽  
Vimal Viswanathan ◽  
Julie Linsey
Keyword(s):  
Pilot Study ◽  
Physical Model ◽  
Computer Aided Design ◽  
Engineering Students ◽  
Design Thinking ◽  
Solution Space ◽  
New Concepts ◽  
Design Representations ◽  
Aided Design

The use of examples in engineering curricula is a commonly used means to teach engineering students new concepts and ideas; these examples play an important role in teaching engineering students how to become technically competent engineers and designers. Being able to learn from examples and avoid fixation to those examples is an important task in that process. Design fixation is a major constraint in design thinking as it limits the solution space where designers search for their ideas. The experiments described in this paper aims to investigate how students fixate to different types of representations. A pilot study comparing sketched and physical representations of examples shows that students are less likely to fixate to the design specifications of examples provided in the form of physical model, this suggests that they are able to better understand the design limitations of examples presented in the form of a physical model. Based on the preliminary results from this pilot experiment, the framework for a follow-up experiment is developed. This second experiment will explore the trend observed in the pilot study further and will compare how students fixate on and derive information between sketched and computer-aided design representations.

scholarly journals Моделирование переходных процессов в полупроводниковых приборах на основе 4H-SiC (учет неполной ионизации легирующих примесей в модуле ATLAS программного пакета SILVACO TCAD)

2019 ◽  
Vol 53 (3) ◽  
pp. 407
Author(s):  
П.А. Иванов ◽  
А.С. Потапов ◽  
Т.П. Самсонова
Keyword(s):  
Physical Model ◽  
Dynamic Characteristics ◽  
Computer Aided Design ◽  
Room Temperature ◽  
Software Module ◽  
Capacitive Element ◽  
Computer Aided ◽  
Simulation Results ◽  
Rc Circuit ◽  
Aided Design

AbstractTransient process in a resistor–capacitor (RC) circuit with a reverse-biased 4 H -SiC p – n diode as the capacitive element is simulated. Simulation is performed with the ATLAS software module from the SILVACO TCAD system for technology computer-aided design (TCAD). An alternative way, to that in ATLAS, to set the parameters of doping impurities partly ionized in 4 H -SiC at room temperature is suggested. (The INCOMPLETE physical model available in the ATLAS module, which describes the incomplete ionization of doping impurities in semiconductors, is unsuitable for simulating the dynamic characteristics of devices.) The simulation results are discussed in relation to previously obtained experimental results.

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