Geometrical approach for the workspace of 6-DOF parallel manipulators

Author

Kim, D.I. ; Chung, W.K. ; Youm, Y.

Author_Institution

Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., China

Volume

4

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2986

Abstract

Since parallel manipulators have relatively small workspace when compared to serial manipulators, it is important to determine the workspace in the design stage. However, due to the complexity of the closed-loop chain mechanism, the determination of the workspace is difficult. In this paper, a fully geometrical method for the determination of the workspace of 6-DOF parallel manipulators is presented using the concept of a 4-bar linkage. The reachable and dexterous workspace can be determined from the proposed algorithm. In order to evaluate the workspace, each leg is considered as an open chain, and two kinematic constraints-position and mechanism constraints-are developed. The proposed method is verified by simulation

Keywords

geometry; manipulator kinematics; 4-bar linkage; 6-DOF parallel manipulators; closed-loop chain mechanism; complexity; dexterous workspace; geometrical approach; kinematic constraints; mechanism constrain; position constraint; reachable workspace; Equations; Geometry; Interference constraints; Kinematics; Leg; Manipulators; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.606741

Filename

606741