Knowledge Commons of Institute of Automation,CAS
Analysis of the Total Orientation Workspace of a Type of n-PPPS Parallel Manipulator | |
Liu Zhaoyang1,2![]() ![]() ![]() ![]() | |
2021-07 | |
会议名称 | 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics |
会议日期 | 2021-7-3至2021-7-5 |
会议地点 | Chongqing,China |
摘要 | The total orientation workspace (TOW) is fundamental to the design and application of a parallel manipulator. Among various PM structures, a type of n-PPPS PMs, whose limbs consisted of three active prismatic joints and one passive spherical joint, is widely used in assembly tasks of jointing cabin sections. In this paper, the shape of the TOW of the type of n-PPPS PM is proved to be a cuboid. And this property is utilized to transfer the TOW determination problem to solving six minima and maxima with the help of nonlinear optimization algorithm, which reduces the computation cost greatly comparing to general workspace determination algorithms. Then, a 4-PPPS PM is taken as an example to carry out comparisons on computation speed and accuracy with a general TOW solving method based on workspace search, and the experiment results show the superiority of the proposed method. In the end, the influence of limb distances and angle ranges of the TOW on the volume rate of the TOW is analyzed as a concrete example of the application of the proposed method to guide manipulator design and application. |
收录类别 | EI |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56551 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Jing Fengshui |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Liu Zhaoyang,Fan Junfeng,Wang Zhe,et al. Analysis of the Total Orientation Workspace of a Type of n-PPPS Parallel Manipulator[C],2021. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Analysis_of_the_Tota(4857KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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