DocumentCode
1747415
Title
An improved design algorithm based on interval analysis for spatial parallel manipulator with specified workspace
Author
Merlet, Jean-Pierre
Author_Institution
Inst. Nat. de Recherche en Inf. et Autom., Sophia-Antipolis, France
Volume
2
fYear
2001
fDate
2001
Firstpage
1289
Abstract
We propose an algorithm that enable one to determine almost all the geometries of a simplified Gough platform whose workspace must include an arbitrary set of poses. Five design parameters have been identified and we assume that the stroke of the linear actuator is known. This algorithm is based on an interval analysis approach and its result is a set of ranges for the design parameters such that the workspace of any robot whose geometry is defined by values within the ranges will include the specified poses.
Keywords
computational complexity; geometry; manipulators; design algorithm; interval analysis; linear actuator; simplified Gough platform; spatial parallel manipulator; Algorithm design and analysis; Bismuth; Computational geometry; Hydraulic actuators; Leg; Parallel robots; Robot kinematics; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932788
Filename
932788
Link To Document