Constraint Conditions Determination for Singularity-free Workspace of Central Symmetric Parallel Robots. Issue 3 (2015)

• Record Type: Journal Article
• Authors: Zeng, Rui; Dai, Shuling; Xie, Wenfang; Rama, Bhat
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 3(2015)
• Page Start: 1930
• Page End: 1935
• Publication Date: 2015
• Subjects: Parallel Robot -- Singularity -- Topology -- Optimization; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.06.369
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: The kinematic map between actuators and end-effector in parallel robot is one of the main constraints for its workspace. With a geometric analysis on the map, this paper reveals the internal characteristics of the central symmetric parallel robot workspace, and presents a series of topology based constraint conditions for the numerical calculation in singularity-free workspace optimization. We use homeomorphism theorems and finite distortion principles to introduce these constraints, and explain how the singularity-free workspace can be considered as a simple connected set under these conditions. Finally, we determine the constraint conditions for two typical central symmetric parallel robots: the 3- RPR structure planar parallel robot and the 6-SPS structure Stewart parallel robot. And the constraint conditions are applied in the singularity-free workspace optimization respectively.