Research on Region Division of Large Workpiece Based on Dexterous Workspace of Robot

Abstract In order to complete the processing of large-scale workpieces, a region division of large-scale workpieces based on robot dexterous workspace is studied. The linkage coordinate system of the robot is established by D-H method, and the forward kinematics equation of the robot is obtained; Monte Carlo method is used to analyze the workspace of the robot, and MATLAB is used to program to draw the workspace and task space of the robot; Taking an example part as the object, the feature of the part is studied, and the process of determining the task space area of the workpiece in the dexterous workspace of the robot is given, and the region of the workpiece is divided based on the size of the task space and the geometric features of the workpiece.

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Determination of Allowable Manipulator Link Shapes; and Task, Installation, and Obstacle Spaces Using the Monte Carlo Method

Journal of Mechanical Design ◽

10.1115/1.2919212 ◽

1993 ◽

Vol 115 (3) ◽

pp. 457-461 ◽

Cited By ~ 3

Author(s):

Q. Tu ◽

J. Rastegar

Keyword(s):

Monte Carlo ◽

Monte Carlo Method ◽

Shape Design ◽

Task Space ◽

Operating Environment ◽

Design Task ◽

The Monte Carlo Method ◽

Manipulator Link ◽

And Task

The Monte Carlo method is used to solve a number of manipulator link shape design, task space, and obstacle placement problems. The shape of links of manipulators that are to operate within geometrically specified enclosures are determined. Within the enclosure, one or several obstacles may be present. For a specified operating environment, the spaces within which a given manipulator may be installed in order to perform the required tasks are identified. For a given enclosure, the allowable task spaces, and regions within which obstacles may be placed are mapped. By defining weighted distributions for the task and/or obstacle spaces, weighted allowable link shapes, and task and obstacle spaces are determined. The information can be used for optimal link shape synthesis, and for optimal task, obstacle, and manipulator placement purposes. The developed methods are very simple, numeric in nature, and readily implemented on computer. Several examples are presented.

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Determination of the Allowable Manipulator Link Shapes; and Task, Installation, and Obstacle Spaces Using the Monte Carlo Method

15th Design Automation Conference: Volume 2 — Design Optimization ◽

10.1115/detc1989-0089 ◽

1989 ◽

Author(s):

J. Rastegar ◽

Q. Tu

Keyword(s):

Monte Carlo ◽

Monte Carlo Method ◽

Shape Design ◽

Task Space ◽

Operating Environment ◽

End Effector ◽

The Monte Carlo Method ◽

Manipulator Link ◽

And Task

Abstract The Monte Carlo method is used to solve a number of problems in manipulator link shape design, and in task space and obstacle placement. The shape of links of manipulators that are to operate within geometrically specified enclosures are determined. Within the enclosure, one or several obstacles may be present. The end effector operates within the task space, and may be required to reach points in different regions with different orientations. For a specified operating environment (enclosure geometry and obstacles), the spaces within which a given manipulator may be installed in order to perform the required tasks are identified. For a given enclosure, task space, and position of the fixed joint of the manipulator, regions within which obstacles may be placed are mapped. The developed methods are very simple, numeric in nature, and readily implemented on computer. Several examples are presented.

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