کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
11004069 1467706 2018 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A dual quaternion approach to efficient determination of the maximal singularity-free joint space and workspace of six-DOF parallel robots
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
A dual quaternion approach to efficient determination of the maximal singularity-free joint space and workspace of six-DOF parallel robots
چکیده انگلیسی
The avoidance of singularities is critical to design and control of parallel robots. This paper aims at efficient determination of the maximal singularity-free joint space and workspace of a class of six-DOF parallel robots with six kinematic chains of same type. We represent the singularity-free joint space by a 6-cube and determine it firstly. The singularity-free workspace is generated by continuous motion of all active joints in the singularity-free joint space. As a result, the boundary of the workspace can be obtained with simultaneous consideration of position and orientation of the mobile platform. The size relation between the maximal singularity-free joint space and workspace is discussed. To efficiently determine the singularity-free joint space and workspace, we propose dual quaternion-based Jacobian matrices and construct an efficient algorithm. The algorithm detects singularities in a given joint space and simultaneously calculates its corresponding workspace. The computational costs of the proposed algorithm and the traditional one are compared using a 6-UPS parallel robot, leading to 9 seconds and 458 seconds respectively. Finally, both the maximal singularity-free joint space and workspace of a 6-PUS parallel robot are determined to further demonstrate the effectiveness of the new approach.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 129, November 2018, Pages 279-292
نویسندگان
, , , , ,