Title :
Workspace analysis of the Biglide mini parallel robot with 2 DOF
Author :
Sergiu-Dan Stan;Vistrian Maties;Radu Balan
Author_Institution :
Technical University of Cluj-Napoca, Dept. of Mechanics and Programming, 103-105, B-dul Muncii, 400641, Romania
Abstract :
The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini parallel robot. Planar parallel robots are good candidates for microminiaturization into a microdevice. The workspace is one of the most important kinematic properties of robots, even by practical viewpoint because of its impact on robot design. A program was created in MATLAB for workspace analysis of 2 DOF parallel robots. Singular configurations are also obtained.
Keywords :
"Parallel robots","Robot kinematics","Mechatronics","Sampling methods","Concurrent computing","Visualization","MATLAB","Manipulators","Genetic algorithms","Robot programming"
Conference_Titel :
Advanced Robotics and Its Social Impacts, 2007. ARSO 2007. IEEE Workshop on
Print_ISBN :
978-1-4244-1952-4
Electronic_ISBN :
2162-7576
DOI :
10.1109/ARSO.2007.4531419
