Rakhodaei, HR;
Rastegarpanah, A;
Ding, CD;
Saadat, MS;
(2013)
Free singularity path planning of hybrid parallel robot.
In: Shehab, Essam and Ball, Peter and Tjahjono, Benny, (eds.)
Proceedings of the 11th International Conference on Manufacturing Research (ICMR2013), Cranfield University, UK,.
(pp. pp. 313-318).
Cranfield University: UK.
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Abstract
This paper presents a singularity-free path planning approach for a hybrid parallel robot. The hybrid robot is composed of two well-known parallel robots, a hexapod and a tripod, that are serially connected. In this paper a methodology is developed to avoid singularity configurations of the hybrid parallel robot. Nominal polynomial paths are used for motion of end effector, and the strokes of each actuator is calculated by using the developed inverse kinematic. A MATLAB program has been developed to generate the designed paths, and several poses have been tested in a CAD model of the hybrid parallel robot to validate the feasibility of the path planning approach.
| Type: | Proceedings paper |
|---|---|
| Title: | Free singularity path planning of hybrid parallel robot |
| Event: | International Conference on Manufacturing Research (ICMR2013) |
| Location: | Cranfield , UK |
| Dates: | 19 September 2013 - 20 September 2013 |
| ISBN-13: | 978-1-907413-23-0 |
| Open access status: | An open access version is available from UCL Discovery |
| Language: | English |
| Additional information: | This article is published under Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/) |
| Keywords: | Parallel Robot, Path planning, Singularity |
| UCL classification: | UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/1559141 |
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