Closed-form solution for reachable workspace of axially symmetric hexapod robots

2012 ◽  
Author(s):  
Mahdi Agheli ◽  
Stephen S. Nestinger
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Form Solution ◽  
Axially Symmetric ◽  
Reachable Workspace ◽  
Hexapod Robots

Closed-Form Solution for Constant-Orientation Workspace and Workspace-Based Design of Radially Symmetric Hexapod Robots

2014 ◽  
Vol 6 (3) ◽  
Author(s):  
Mahdi Agheli ◽  
Stephen S. Nestinger
Keyword(s):  
Closed Form ◽  
Structural Parameters ◽  
Closed Form Solution ◽  
Form Solution ◽  
Axially Symmetric ◽  
Kinematic Chains ◽  
Design And Optimization ◽  
Hexapod Robots ◽  
Iterative Optimization Algorithm ◽  
Orientation Workspace

The workspace of hexapod robots is a key performance parameter which has attracted the attention of numerous researchers during the past decades. The selection of the hexapod parameters for a desired workspace generally employs the use of numerical methods. This paper presents a general methodology for solving the closed-form constant orientation workspace of radially symmetric hexapod robots. The closed-form solution facilitates hexapod robot design and minimizes numerical efforts with on-line determination of stability and workspace utilization. The methodology can be used for robots with nonsymmetric and nonidentical kinematic chains. In this paper, the methodology is used to derive the closed-form equations of the boundary of the constant-orientation workspace of axially symmetric hexapod robots. Several applications are provided to demonstrate the capability of the presented closed-form solution in design and optimization. An approach for workspace-based design optimization is presented using the provided analytical solution by applying an iterative optimization algorithm to the find optimized structural parameters and an optimized workspace.

Kinematics Analysis of a Novel 5-DOF Hybrid Manipulator

2015 ◽  
Vol 9 (6) ◽  
pp. 765-774 ◽  
Author(s):  
Wanjin Guo ◽  
◽  
Ruifeng Li ◽  
Chuqing Cao ◽  
Yunfeng Gao ◽  
...  
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Closed Form Solution ◽  
Form Solution ◽  
Parallel Mechanisms ◽  
Kinematics Analysis ◽  
Structure And Motion ◽  
Reachable Workspace ◽  
Hybrid Manipulator ◽  
Inverse Kinematics Problem

Application of hybrid robotics is a continuously developing field, as hybrid manipulators have demonstrated that they can combine the benefits of serial structures and parallel mechanisms. In this paper, a novel 5-degree-of-freedom hybrid manipulator is designed. The structure of this manipulator and its kinematics analysis are presented. An innovative closed-form solution was proposed to address the inverse kinematics problem. Additionally, the validity of the closed-form solution was verified via co-simulation using MATLAB and ADAMS. Finally, the reachable workspace of this manipulator was obtained for further optimizing the structure and motion control.

Analytical Study of Reachable Workspace for 2-RPR Planar Parallel Mechanisms

2012 ◽  
Author(s):  
Mahdi Agheli ◽  
Stephen S. Nestinger ◽  
Robert L. Norton
Keyword(s):  
Closed Form ◽  
Analytical Study ◽  
Structural Parameters ◽  
Closed Form Solution ◽  
High Accuracy ◽  
Form Solution ◽  
Parallel Mechanisms ◽  
Design And Optimization ◽  
Reachable Workspace ◽  
Selection Of

In both planar and spatial parallel mechanisms, selection of the structural parameters for a desired workspace generally employs the use of numerical methods. However, using the closed-form solution, if it exists, facilitates workspace-based design and optimization of the mechanism, and may significantly reduce the required time and calculation for finding the workspace of the mechanism. This paper presents a general and comprehensive closed-form solution for the reachable workspace of a 2-RPR planar parallel mechanism. The workspace of the mechanism is analyzed step-by-step in detail and its boundary is derived analytically. Since the solution is closed-form, it has high accuracy and reliability. Furthermore, the provided solution can be employed to solve the workspace of similar mechanisms in a closed-form manner including other n-RPR planar parallel mechanisms.

On a Closed-Form Solution of Prandtl's System of Equations

2013 ◽  
Vol 40 (2) ◽  
pp. 106-114
Author(s):  
J. Venetis ◽  
Aimilios (Preferred name Emilios) Sideridis
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Form Solution ◽  
System Of Equations
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