Mathematical Characterization of the Workspace of a 6-DOF Parallel Robot for Reverse Engineering

In this work, the inverse kinematics and the determination of the workspace of a 6 degree-of-freedom parallel robot, is presented. Computer simulations results are included, that allow to visualize the workspace shape and to decompose it in simpler geometric entities. These are used to characterize mathematically the workspace as a function of the manipulator’s parameters. Moreover, this characterization allows to carry out reverse engineering, that is, in function of the workspace needed for executing a certain task, one would be able to design the robot that guarantees the reachability of the whole set of points.

[1]  Masaru Uchiyama,et al.  Singularity-consistent path planning and control of parallel robot motion through instantaneous-self-motion type singularities , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[2]  Yacine Amirat,et al.  Analysis and design of a six-DOF parallel manipulator, modeling, singular configurations, and workspace , 1998, IEEE Trans. Robotics Autom..

[3]  Marco Ceccarelli,et al.  A New 3 dof Spatial Parallel Mechanism , 1997 .

[4]  G. R. Pennock,et al.  The Workspace of a General Geometry Planar Three-Degree-of-Freedom Platform-Type Manipulator , 1993 .

[5]  C. Gosselin.  Determination of the Workspace of 6-DOF Parallel Manipulators , 1990 .

[6]  Fariborz Behi.  Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism , 1988, IEEE J. Robotics Autom..

[7]  Tatsuo Arai,et al.  A prototype parallel manipulator: kinematics, construction, software, workspace results, and singularity analysis , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[8]  Nicolas Mouly.  Developpement d'une famille de robots paralleles a motorisation electrique , 1993 .

[9]  M. Ceccarelli.  A formulation for the workspace boundary of general N-revolute manipulators , 1996 .

[10]  C. Gosselin,et al.  Nouvelle architecture pour un manipulateur parallele a six degres de liberte , 1991 .

[11]  Charles C. Nguyen,et al.  Trajectory planning and control of a Stewart platform-based end-effector with passive compliance for part assembly , 1992, J. Intell. Robotic Syst..