A Study on Kinematics and Workspace Determination of a General 6-PUS Robot
نویسنده:
, , , , ,سال
: 2018
چکیده: The 6-UPS parallel manipulator known as Stewart
platform is the most common type of 6-DOF parallel
robots. Most industrial applications such as the motion
simulators and applications requiring high load and high
workspace use this structure. However, the 6-UPS has its
disadvantages as the actuated joint is located in the second
place in the kinematic chain. The 6-PUS is another 6-DOF
structure and when compared with the 6-UPS, offers several
advantages by allowing to mount the heavy and the
vibration inducing actuated prismatic joint on the ground.
This offers the added benefit of transferring the majority
of the payload to the ground, resulting in lowering of
the overall costs. The question is: Can we find a 6-PUS
architecture that meets or exceeds the prescribed workspace
while meeting the same kinematics footprint requirement
of a given 6-UPS? In the present paper, a recently constructed
6-UPS mechanism for a metro station is selected
and using an optimization method based on a genetic algorithm
(GA), a 6-PUS mechanism that meets or exceeds the
required workspace is identified. To do this, first, the various architectures of the 6-PUS parallel robot are presented.
The inverse kinematics solution for a general 6-PUS architecture
is obtained. To fully define the architecture, three
additional kinematics parameters are selected and employed
to define the cost function used for the optimization. The
cost function acts as a penalizing mechanism which ignores
unwanted architectures of the 6-PUS. Finally, a new concept
for 6-DOF workspace visualization representation, called
workspace spheres, is presented. The new concept aids the
user by offering quantitatively data and visualization tool
for simultaneous description of rotational and translational
workspace.
platform is the most common type of 6-DOF parallel
robots. Most industrial applications such as the motion
simulators and applications requiring high load and high
workspace use this structure. However, the 6-UPS has its
disadvantages as the actuated joint is located in the second
place in the kinematic chain. The 6-PUS is another 6-DOF
structure and when compared with the 6-UPS, offers several
advantages by allowing to mount the heavy and the
vibration inducing actuated prismatic joint on the ground.
This offers the added benefit of transferring the majority
of the payload to the ground, resulting in lowering of
the overall costs. The question is: Can we find a 6-PUS
architecture that meets or exceeds the prescribed workspace
while meeting the same kinematics footprint requirement
of a given 6-UPS? In the present paper, a recently constructed
6-UPS mechanism for a metro station is selected
and using an optimization method based on a genetic algorithm
(GA), a 6-PUS mechanism that meets or exceeds the
required workspace is identified. To do this, first, the various architectures of the 6-PUS parallel robot are presented.
The inverse kinematics solution for a general 6-PUS architecture
is obtained. To fully define the architecture, three
additional kinematics parameters are selected and employed
to define the cost function used for the optimization. The
cost function acts as a penalizing mechanism which ignores
unwanted architectures of the 6-PUS. Finally, a new concept
for 6-DOF workspace visualization representation, called
workspace spheres, is presented. The new concept aids the
user by offering quantitatively data and visualization tool
for simultaneous description of rotational and translational
workspace.
کلیدواژه(گان): Workspace determination · Parallel
manipulator · Optimization · Workspace representation ·
General 6-PUS
کالکشن
:
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آمار بازدید
A Study on Kinematics and Workspace Determination of a General 6-PUS Robot
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| contributor author | سید نادر نبوی | en |
| contributor author | علیرضا اکبرزاده توتونچی | en |
| contributor author | J. Enferadi | en |
| contributor author | Nader Nabavi | fa |
| contributor author | Alireza Akbarzadeh Tootoonchi | fa |
| contributor author | J. Enferadi | fa |
| date accessioned | 2020-06-06T13:41:27Z | |
| date available | 2020-06-06T13:41:27Z | |
| date issued | 2018 | |
| identifier uri | http://libsearch.um.ac.ir:80/fum/handle/fum/3365189 | |
| description abstract | The 6-UPS parallel manipulator known as Stewart platform is the most common type of 6-DOF parallel robots. Most industrial applications such as the motion simulators and applications requiring high load and high workspace use this structure. However, the 6-UPS has its disadvantages as the actuated joint is located in the second place in the kinematic chain. The 6-PUS is another 6-DOF structure and when compared with the 6-UPS, offers several advantages by allowing to mount the heavy and the vibration inducing actuated prismatic joint on the ground. This offers the added benefit of transferring the majority of the payload to the ground, resulting in lowering of the overall costs. The question is: Can we find a 6-PUS architecture that meets or exceeds the prescribed workspace while meeting the same kinematics footprint requirement of a given 6-UPS? In the present paper, a recently constructed 6-UPS mechanism for a metro station is selected and using an optimization method based on a genetic algorithm (GA), a 6-PUS mechanism that meets or exceeds the required workspace is identified. To do this, first, the various architectures of the 6-PUS parallel robot are presented. The inverse kinematics solution for a general 6-PUS architecture is obtained. To fully define the architecture, three additional kinematics parameters are selected and employed to define the cost function used for the optimization. The cost function acts as a penalizing mechanism which ignores unwanted architectures of the 6-PUS. Finally, a new concept for 6-DOF workspace visualization representation, called workspace spheres, is presented. The new concept aids the user by offering quantitatively data and visualization tool for simultaneous description of rotational and translational workspace. | en |
| language | English | |
| title | A Study on Kinematics and Workspace Determination of a General 6-PUS Robot | en |
| type | Journal Paper | |
| contenttype | External Fulltext | |
| subject keywords | Workspace determination · Parallel manipulator · Optimization · Workspace representation · General 6-PUS | en |
| journal title | Journal of Intelligent and Robotic Systems | fa |
| pages | 351-362 | |
| journal volume | 91 | |
| journal issue | 3 | |
| identifier link | https://profdoc.um.ac.ir/paper-abstract-1069809.html | |
| identifier articleid | 1069809 |