Published February 2019 | Version v1
Journal article Metadata-only

Reachable workspace determination for a spatial hyper-redundant manipulator formed by several parallel manipulators

Creators

  • 1. Yanshan University, Parallel Robot and Mechatronic System Laboratory of Hebei Province (China)
  • 2. North China University of Science and Technology, College of Mechanical Engineering (China)
  • 3. Yanshan University, School of Environmental and Chemical Engineering (China)

Description

Solving the reachable workspaces of spatial hyper-redundant manipulators (SHRMs) formed by serially connected parallel manipulators is an important and challenging work. This study addresses the issue on reachable workspaces and establishes a novel CAD-VBbased workspace determination system for determining the reachable workspaces of SHRMs. The reachable workspace determination of a novel (3-RPS)+(3-SPR)+(3-RPS) SHRM, a triple delta-type SHRM, and a novel (3-RRS)+(3-SPR)+(3-RRS) SHRM shows the generality and effectiveness of the proposed approach. The system proposed in this study can contribute to reachable workspace analysis for SHRMs.

Additional details

Identifiers

DOI
10.1007/s12206-019-0144-1;

Publishing Information

Journal Title
Journal of Mechanical Science and Technology
Journal Volume
33
Journal Issue
2
Journal Page Range
p. 869-877
ISSN
1738-494X

INIS

Country of Publication
Korea, Republic of
Country of Input or Organization
International Atomic Energy Agency (IAEA)
INIS RN
54086042
Subject category
S42: ENGINEERING;
Descriptors DEI
MANIPULATORS; REMOTE CONTROL; ROBOTS
Descriptors DEC
CONTROL; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT

Optional Information

Copyright
Copyright (c) 2019 KSME & Springer