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Workspace Modelling of a Parallel Robot with Relative Manipulation Mechanisms Based on Optimization Methods

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Robotics and Mechatronics (ISRM 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 78))

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Abstract

The article describes the application of optimization algorithms for solving the problem of determining the workspace of a relative mechanism device, which includes a planar 3-RPS mechanism and a tripod module. Approximation sets of individual modules are used to approximate its workspace in the moving coordinate system. The considered method of approximating a solution set of nonlinear inequalities based on the concept of the non-uniform coverings, describes constraints on the robot geometric parameters. The exterior and interior approximations of the 3-RPS mechanism are obtained. Similarly, an approximation of the restrictions for the tripod module in the moving platform coordinate system is obtained. The constraints with a given accuracy are transferred to the coordinate system of the output using a three-dimensional binary array approximating the workspace. The workspace of the relative mechanism device was obtained on the basis of these results, taking into account the relative manipulation of modules and restrictions on the workpiece geometric parameters. Moving coordinate system is located in the center of the planar 3-RPS mechanism platform.

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Acknowledgements

This work was supported by the Russian Science Foundation, the agreement number 16-19-00148 and Science Committee, the Ministry of Education and Science, Republic of Kazakhstan, project no. АР05133190.

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Authors and Affiliations

  1. Belgorod State Technological University Named After V.G. Shukhov, Belgorod, Russian Federation

    Dmitry Malyshev & Larisa Rybak

  2. Indian Institute of Technology Kanpur, Kanpur, 208016, India

    Laxmidhar Behera

  3. Indian Institute of Technology Palakkad, Palakkad, India

    Santhakumar Mohan

Authors
  1. Dmitry Malyshev
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  2. Larisa Rybak
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  3. Laxmidhar Behera
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  4. Santhakumar Mohan
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Corresponding author

Correspondence to Dmitry Malyshev .

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Editors and Affiliations

  1. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, Australia

    Chin-Hsing Kuo

  2. Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan

    Pei-Chun Lin

  3. Department of Mechanical Engineering, National Central University, Taoyuan City, Taiwan

    Terence Essomba

  4. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan

    Guan-Chen Chen

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Malyshev, D., Rybak, L., Behera, L., Mohan, S. (2020). Workspace Modelling of a Parallel Robot with Relative Manipulation Mechanisms Based on Optimization Methods. In: Kuo, CH., Lin, PC., Essomba, T., Chen, GC. (eds) Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, vol 78. Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_13

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