Workspace Analysis of a 6-DOF Installing-Calibrating Robot

2011 ◽  
Vol 422 ◽  
pp. 75-78 ◽  
Author(s):  
Zhi Jiang Xie ◽  
Cheng Li ◽  
Wei Ni ◽  
Nan Liu
Keyword(s):  
Structural Parameters ◽  
Joint Space ◽  
Coordinate Systems ◽  
Robot Trajectory ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Time Calculation ◽  
Random Probability ◽  
Forward Kinematic ◽  
Kinematic Solution

According to the working characteristics and installment environments of modules，a compact 6-DOF installing-calibrating robot was designed. Coordinate systems of joints are set upand the forward kinematic solution are derived by using D-H methods. Using the Monte Carlo method based on random probability and MATLAB software simulation for the robot's structural parameters to the robot's workspace impact. According to joint space to the mapping workspace，robots have been the workspace. The research results have proved that the designed configuration can satisfy the needs of installment action，which will provide theoretical reference for the robot trajectory planning，dynamic analysis and online real-time calculation.

STUDY OF THE STATIC CHARACTERISTICS OF THE WORKSPACE AR600E ROBOT

2020 ◽  
Vol 5 (4) ◽  
pp. 6-12
Author(s):  
Evgeniy Shakhmatov ◽  
Vladimir Ilyukhin ◽  
Dmitry Mezentsev
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Basic Structure ◽  
Planning And Control ◽  
Working Space ◽  
The Monte Carlo Method ◽  
And Control ◽  
Kinematic Solution

The workspace is one of the most important parameters for evaluating robot flexibility and is important for optimizing robotic configuration, motion planning and control. Firstly, a kinematic model of the manipulator based on its basic structure was put forward. The systems of connection coordinates are established and the direct kinematic solution derived using DH methods. On its basis, the working space of the manipulator analyzed by the Monte Carlo method, based on random probability and software simulation MATLAB for the structural parameters of the robot. A cloud of workspace points has been compiled. Considering the problem of insufficient accuracy of the traditional Monte Carlo method in calculating the working space of the robot, an improved Monte Carlo method using the Beta distribution proposed. 

scholarly journals Doublel-robot coordination workspace Analysis based on Matlab

2018 ◽  
Vol 232 ◽  
pp. 03057
Author(s):  
Wei Wang ◽  
Yong Xu
Keyword(s):  
Boundary Surface ◽  
Value Theory ◽  
Working Space ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Solution Equation ◽  
Space Boundary ◽  
Robot Cooperation ◽  
Limit Position ◽  
Cooperation System

Aiming at the requirements of dual robot collaborative operation, a dual robot cooperation system model is established in SolidWorks2012 software to study the dual robot cooperation space. The D-H parameters are established, and the kinematics positive solution equation is obtained. The dual robot cooperative kinematics model is given. Based on the Monte Carlo method, the workspace of the dual robot is solved. The extreme value theory method is used to analyze and calculate, so as to extract the precise boundary contour of the common area of the dual robot workspace, and the collaborative space boundary surface and limit position of the dual robot are determined. The optimal coordinated working space of the dual robot end effector is obtained, which lays a theoretical foundation for the coordinated trajectory planning of the dual robot.

Kinematic Analysis of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy

2013 ◽  
Vol 816-817 ◽  
pp. 821-824
Author(s):  
Xue Mei Niu ◽  
Guo Qin Gao ◽  
Zhi Da Bao
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Rbf Neural Network ◽  
Analysis Method ◽  
Parallel Kinematic Mechanism ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Forward Kinematic ◽  
Kinematic Mechanism ◽  
Kinematic Solution

Kinematic analysis plays an important role in the research of parallel kinematic mechanism. This paper addresses a novel forward kinematic solution based on RBF neural network for a novel 2PRRR-PPRR redundantly actuated parallel mechanism. Simulation results illustrate the validity and feasibility of the kinematic analysis method.

Design of a master device for controlling multi-moduled continuum robots

2015 ◽  
Vol 231 (10) ◽  
pp. 1921-1931 ◽  
Author(s):  
Hyun-Soo Yoon ◽  
Byung-Ju Yi
Keyword(s):  
Degrees Of Freedom ◽  
Control Experiment ◽  
Light Weight ◽  
Kinematic Structure ◽  
Continuum Robots ◽  
Two Degrees Of Freedom ◽  
Forward Kinematic ◽  
Master Device ◽  
Kinematic Solution

Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a unique forward kinematic solution. This design is slim-sized, light-weight, and easy to implement. As an example mechanism, a continuum unit with two degrees of freedom was developed. Two-unit modules were assembled to generate four degrees of freedom. The performance of the master device is verified through a master-slave control experiment.

Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 2136-2142 ◽  
Author(s):  
Rui Fan ◽  
Huan Liu ◽  
Dan Wang
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Search Method ◽  
Architecture Design ◽  
Original Volume ◽  
Workspace Analysis ◽  
The Relationship

A spatial 3-DOF translational parallel mechanism is analyzed. Its inverse kinematic model is established. The section view of the workspace of the parallel mechanism is presented via boundary search method under the defined constraints. Considering the workspace volume as the optimization object, the relationship between structural parameters and workspace volume is obtained and the structural parameters to be optimized are determined. Finally, the optimization configuration of the mechanism is obtained. The results show that the volume of the workspace increases 1.55 times as much as the original volume, which lay the foundation for the architecture design.

Modeling and Simulation for One Leg of Quadruped Robot Trajectory

2016 ◽  
Vol 826 ◽  
pp. 140-145
Author(s):  
Hasrul Che Shamsudin ◽  
Mohammad Afif Ayob ◽  
Wan Nurshazwani Wan Zakaria ◽  
Mohamad Fauzi Zakaria
Keyword(s):  
First Generation ◽  
Open Loop ◽  
Quadruped Robot ◽  
Movement Planning ◽  
Android Apps ◽  
Robot Trajectory ◽  
Real Model ◽  
Zero Position ◽  
Forward Kinematic

In legged robot movement planning, the leg must be carefully design before trajectory analysis can be done. The objective of this paper is to develop a 3 DOF leg which will be used in quadruped robot. In addition, forward kinematic and comparison between real and simulation of the leg is presented. To achieve the objective, SolidWorks 2013 x64 Edition is used to develop the 3D modeling of the leg while SimMechanics with First Generation Format was applied to export the models to Simulink. For the comparison purposes, real model of 3 DOF leg with Arduino Pro Mini 328 - 5V/16MHz as a microcontroller to control the rotation of three servomotors was constructed. With MIT AI2 Companion software, android apps is developed to send signal to rotate each servomotor wirelessly. The zero position of the leg robot has been determined and the maximum rotation range of each servomotor. This is very important in determination of D-H Parameters which allow the resolving of kinematics problems. It is found that specific rotations of each servomotor provide the trajectory pattern of the leg which is compared through Simulink and real model. Nevertheless, there are errors between simulation and real position of the robot leg due to the open loop system.

scholarly journals Joint Space and Workspace Analysis of a 2-DOF Spherical Parallel Mechanism

2020 ◽  
pp. 181-188
Author(s):  
Damien Chablat ◽  
Guillaume Michel ◽  
Philippe Bordure ◽  
Ranjan Jha ◽  
Swaminath Venkateswaran
Keyword(s):  
Parallel Mechanism ◽  
Joint Space ◽  
Workspace Analysis ◽  
Spherical Parallel Mechanism
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