Title :
CAD Application to the Analysis about the Workspace of an Asymmetric Parallel Robot Influenced by the Joints´ Distribution
Author :
Yan, Shi ; Yi, Lu
Author_Institution :
Coll. of Mech. Eng., Yanshan Univ., Qinhuangdao
Abstract :
Through varying the joints´ distribution, all types of an asymmetric parallel robot, i.e. a 2SPR+UPU robot were derived. From the point of application, 15 typical types were found by computer simulation. CAD dimension driving technique was used to solve the workspace and parameters to describe the positional workspace and pose of the moving platform were defined. Positional workspaces, rotational angle extension of the 15 manipulators were compared, the influence of the joints´ distribution to which was analyzed.
Keywords :
CAD; manipulators; 2SPR+UPU robot; CAD dimension driving technique; asymmetric parallel robot; joints´ distribution; manipulators; positional workspace; rotational angle extension; Application software; Computer simulation; Concurrent computing; Distributed computing; Educational institutions; Manipulators; Mechanical engineering; Orbital robotics; Parallel robots; Robot sensing systems; CAD dimension driving technique; computer simulation; parallel robot; workspace;
Conference_Titel :
Computer and Electrical Engineering, 2008. ICCEE 2008. International Conference on
Conference_Location :
Phuket
Print_ISBN :
978-0-7695-3504-3
DOI :
10.1109/ICCEE.2008.66
