A Comparison of Algebraic and Iterative Procedures for the Generation of the Workspace of Parallel Robots

Russo, Matteo; Ceccarelli, Marco

Abstract

Computing the workspace of parallel manipulators is critical to characterize their behavior. Usually, workspace is obtained by iterating the robot’s forward kinematics for a discrete range of poses, resulting in a cloud of reachable points. Here we propose an alternative algebraic formulation that is based on a recursive generation of volumes for solids of revolution to evaluate each limb’s workspace. The robot’s workspace is then obtained as the intersection of the limbs’ workspaces. With a practical example on the CaPaMan design and on a 3-UPR architecture, both the numerical and algebraic methods are discussed with their features and limits.

Citation

Russo, M., & Ceccarelli, M. (2021, June). A Comparison of Algebraic and Iterative Procedures for the Generation of the Workspace of Parallel Robots. Presented at IFToMM Symposium on Mechanism Design for Robotics (MEDER 2021), Poitiers, France

• Presentation Conference Type: Edited Proceedings
• Conference Name: IFToMM Symposium on Mechanism Design for Robotics (MEDER 2021)
• Start Date: Jun 23, 2021
• End Date: Jun 25, 2021
• Acceptance Date: Mar 27, 2021
• Online Publication Date: May 9, 2021
• Publication Date: Jan 1, 2021
• Deposit Date: May 17, 2021
• Publicly Available Date: Jan 2, 2022
• Publisher: Springer Publishing Company
• Pages: 53-61
• Series Title: Mechanisms and Machine Science
• Series Number: 103
• Series ISSN: 2211-0984
• Book Title: Mechanism Design for Robotics : MEDER 2021
• ISBN: 9783030752736
• DOI: https://doi.org/10.1007/978-3-030-75271-2_6
• Public URL: https://nottingham-repository.worktribe.com/output/5536279
• Publisher URL: https://link.springer.com/chapter/10.1007%2F978-3-030-75271-2_6