Abstract
In this paper several aspects regarding the workspace analysis and singularity identification of a reconfigurable parallel robot are presented. Using the developed kinematic model, the reconfigurable parallel robot singularities within the generated workspace are identified. The simulation results for the workspace and singularities generation are also presented.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Chablat, D., Wenger, Ph.: Workspace analysis of the orthoglide using interval analysis. In: Lenarčič, J., Thomas, F. (eds.) Advances in Robot Kinematics, Kluwer, Norwell, pp. 397–406 (2002)
Chen, I.M.: Theory and applications of modular reconfigurable robotic systems. Ph.D thesis, California Institute of Technology, Pasadena, CA (1994)
Chen, I.-M., et al.: Architecture for rapidly reconfigurable robot workcell. In: 5th International Conference of Control, Automation, Robotics and Vision, Singapore, pp. 100–104 (1998)
Chen, I.-M., Yang, G., Yeo, S.: Automatic modelling for modular reconfigurable robotic systems – theory and practice. In: Industrial Robotics: Theory, Modelling and Control, pp. 43–81 (2006)
Chen, I.M.: A rapidly reconfigurable robotics workcell and its applications for tissue engineering. Report: Innovation in Manufacturing Systems and Technology (IMST), January 2003
Choi, J., et al.: Dynamic and stable reconfiguration of self-reconfigurable planar parallel robots. Adv. Robot. 18(6), 565–582 (2004)
Dash, A.K., et al.: Task-oriented configuration design for reconfigurable parallel manipulator systems. Int. J. Comput. Integr. Manufacturing 18(7), 615–634 (2005)
Fassi, I., et al.: Design and control issues for reconfigurable parallel mechanisms. In: 35th CIRP International Seminar on Manufacturing Systems, Seoul, Korea, 13–15 May 2002
Gao, F., Liu, X.-J., Chen, X.: The relationships between the shapes of the workspaces and the link lengths of a 3-DOF symmetrical planar parallel manipulators. Mech. Mach. Theory 36, 205–220 (2001)
Gosselin, C.: Determination of the workspace of 6-dof parallel manipulators. ASME J. Mech. Des. 112–113, 331–336 (1990)
Hessebach, J., Plitea, N., Kerle, H., Thoben, R.: Manipulator mit Parallelstruktur, Patenschrift DE 197.10.171.C2, Deutsches Patent-und Markenamt, Bundesrepublik Deutschland, 07.02.2002 (2002)
Husty, M.: On the workspace of planar three-legged platforms. In: World Automation Congress, Montpelier, vol. 3, pp. 339–344 (1996)
Itul, T.-P., Pisla, D.L.: Workspace analysis of a Three Degrees of Freedom Parallel Robot. In: Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on May 2006, vol. 2, pp. 290–295. Digital Object Identifier: 10.1109/AQTR.2006.254647 Posted online: 2006-12-11 09:18:09.0 (2006)
Kiat, L.W.: Kinematic analysis and calibration of modular parallel robots. School of Mechanical & Production Engineering, Master of Engineering thesis, Nanyang Technological University (2000)
Kumar, V.: Characterization of workspaces of parallel manipulators. In: ASME Proceedings of the 21th Biennial Mechanisms Conference, Chicago, pp. 321–329 (1990)
Merlet, J.-P.: Parallel robots. Kluwer, Norwell (2006)
Negri, S., et al.: Improvement and optimization of a reconfigurable parallel kinematic machine. In: 2002 Japan-USA Symposium on Flexible Automation (2002 JUSFA), Hiroshima, Japan, 15–17 July 2002
Pernkopf, F., Husty, M.: Reachable workspace and manufacturing errors of Stewart-Gough manipulators. In: Proceedings of MUSME 2005, Brazil (2005)
Pisla, D., Nicolae, P., Anneline, V., Bogdan, P., Bogdan, G., Dorin, L.: Kinematics and design of two variants of a reconfigurable parallel robot. In: Proceedings of ASME/IFToMM ReMAR2009, London (2009)
Pisla, D., Pisla, A.: The relationships between the shape of the workspace and geometrical dimensions of parallel manipulators. PAMM 4(1), 167–168 (2004)
Pisla, D., Itul, T., Vaida, C.: On singularities analysis for the 3-DOF parallel mini-robots. In: Acta Technical Napocensis, Series Applied Mathematics and Mechanics 50, vol. I, Technical University of Cluj-Napoca, Romania (2007)
Pisla, D., Plitea, N., Vaida, C.: Kinematic modeling and workspace generation for a new parallel robot used in minimally invasive surgery. In: Advances in Robot Kinematics: Analysis and Design, Springer, Heidelberg (2008)
Pisla, D., Pisla, A.: The relationships between the shape of the workspace and geometrical dimensions of parallel manipulators. PAMM 5, 213. DOI: 10.1002/pamm.200510084 (2004)
Plitea, N., Hesselbach, J., Pisla, D., Raatz, A., Vaida, C., Simnofske, M., Prodan, B., Burisch, A., Vidrean, A.: Modeling of parallel microrobots with two to six degrees of freedom. In: Acta Technica Napocensis, Series: Machines Construction Materials, vol. 50, Technical University of Cluj-Napoca, Romania (2007)
Plitea, N., Vidrean, D., Pisla, D., Vaida, C., Gherman, B., Prodan, B.: Modeling and design of a mini parallel robot with four degrees of freedom. In: Acta Technica Napocensis, Series: Applied Mathematics and Mechanics 51, Vol. II, Technical University of Cluj-Napoca, Romania (2008)
Raatz, A.: Stoffschüssige Gelenke aus pseudoelastischen Formgedechniss-legierungen für Parallelroboter. Ph.D. Thesis, Technical University Braunschweig, Vulkan Verlag, Essen (2006)
Sefrioui, J., Gosselin, C.M.: Singularity analysis and representation of planar parallel manipulators. Robot. Autonomous Syst. 10, 209–224 (1992)
Yang, G., et al.: Design and kinematic analysis of modular reconfigurable parallel robots. In: SIMTech Technical Report (AT/01/010/AMS) (2001)
Acknowledgments
This research was financed from the research grants awarded by the Romanian Ministry of Education and Research.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer Science+Business Media, B.V.
About this paper
Cite this paper
Plitea, N., Pisla, D., Vidrean, A., Vaida, C., Gyurka, B. (2010). Workspace and Singularity Analysis for a Reconfigurable Parallel Robot. In: Visa, I. (eds) SYROM 2009. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-3522-6_47
Download citation
DOI: https://doi.org/10.1007/978-90-481-3522-6_47
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-3521-9
Online ISBN: 978-90-481-3522-6
eBook Packages: EngineeringEngineering (R0)