CAD based techniques for workspace analysis and representation of the 3C̲RS parallel manipulator

Author

Arrouk, K.A. ; Bouzgarrou, B.C. ; Gogu, G.

Author_Institution

Lab. de Mec. et Ingenieries, Univ. Blaise PASCAL, Clermont-Ferrand, France

fYear

2010

fDate

24-26 June 2010

Firstpage

155

Lastpage

160

Abstract

This paper presents a set of techniques, based on a geometrical approach, for workspace determination and analysis. These techniques are applied for design study of a novel modular parallel manipulator, 3-CRS, with 6-DOF. The proposed method is implemented in the CATIA CAD environment, which provides powerful tools for graphical programming and geometric feature handling. A new type of workspace representation is introduced allowing a fine simultaneous characterization of the translation and orientation capacities of the mobile platform.

Keywords

CAD; manipulator kinematics; mobile robots; 3CRS parallel manipulator; CATIA CAD environment; computer-aided design; geometric feature handling; geometrical approach; graphical programming; mobile platform; workspace analysis; workspace determination; workspace representation; Design automation; Equations; Grid computing; Inverse problems; Kinematics; Manipulators; Parallel robots; Robot programming; Solid modeling; Volume measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics in Alpe-Adria-Danube Region (RAAD), 2010 IEEE 19th International Workshop on

Conference_Location

Budapest

Print_ISBN

978-1-4244-6885-0

Type

conf

DOI

10.1109/RAAD.2010.5524591

Filename

5524591