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Title: Computing the safe working zone of a 3-RRS parallel manipulator
Authors: Patel, Dhruvesh
Kalla, Rohit
Tetik, Halil
Kiper, Gökhan
Bandyopadhyay, Sandipan
Keywords: Parallel manipulator
Safe working zone
Publisher: Springer Verlag
Source: Patel, D., Kalla, R., Tetik, H., Kiper, G., and Bandyopadhyay, S. (2017). Computing the safe working zone of a 3-RRS parallel manipulator. New Trends in Mechanism and Machine Science - Theory and Industrial Applications, 113-120. doi:10.1007/978-3-319-44156-6_12
Abstract: Determination of the safe working zone (SWZ) of a parallel manipulator is a one-time computational task with several permanent benefits. As this subspace of the workspace of the manipulator is free of both the loss- and gain-type singularities, link interference, as well as physical joint limits, the manipulator can move freely in this space. Moreover, if the natural choice of a convex-shaped SWZ is adhered to, then point-to-point path planning inside the SWZ always has a trivial solution, namely, a segment joining the two points, which is guaranteed to be inside the workspace. In this paper, the SWZ of the 3-RRS existing in the _Izmir Institute of Technology has been computed. Starting with the geometry of the manipulator, the loop-closure constraint equations have been derived. The singularity conditions are obtained based on the singularity of certain Jacobian matrices associated with the constraint functions. The interference between the links are detected by first encapsulating the links in rectangular parallelepipeds, which are then discretized into triangles, and subjected to collision tests between the relevant pairs of triangles. Using these theoretical developments, the SWZ is computed. The numerical results are depicted graphically.
ISBN: 9783319441559
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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