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Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   JULY 2017 , Volume 17 , Number 4 ; Page(s) 101 To 110.
 
Paper: 

THE MECHANICAL INTERFERENCE-FREE WORKSPACE OF THE PLANAR PARALLEL ROBOTS USING GEOMETRIC APPROACH

 
 
Author(s):  ANVARI ZOLFA, VARSHOVI JAGHARGH PAYAM*, TALE MASOULEH MEHDI
 
* DEPARTMENT OF ROBOTICS ENGINEERING, HAMEDAN UNIVERSITY OF TECHNOLOGY, HAMEDAN, IRAN
 
Abstract: 

In spite of several advantages of parallel robots, they generally have limited workspace. Therefore, it is of paramount importance to obtain the workspace by considering the mechanical interference. In this paper, the mechanical interference in planar parallel mechanisms, including interference between links and, collision between links and obstacles and between end-effector and obstacles, are investigated using geometrical reasoning. For this purpose, a new geometric method is proposed for collision detection in the workspace of planar parallel mechanisms based on the lines segment intersection. In this method, the configurations of the planar parallel robot are obtained in the entire workspace. Then, the interference of links with each other and obstacles, which are respectively modeled by line segment and polygon, are determined. Finally, the collision-free workspace of the parallel robot is obtained for a specified orientation of the moving platform. Moreover, in this paper, an index is presented which can be used for examining the workspace by considering mechanical interference. The foregoing index provides some insight into obtaining a well-conditioned workspace. For the sake of validation, this method is implemented on two planar parallel robots, namely as 3-RRR and 3-PRR, for different working modes. The obtained results reveal that the ratio of the practical workspace to the theoretical workspace is decreased upon increasing the orientation of the end-effector for both clockwise and counterclockwise directions. Furthermore, due to differences in the number of the moving links, the mechanical interference-free workspace of 3-RRR parallel robot is usually more limited than 3-PRR parallel robot.

 
Keyword(s): MECHANICAL INTERFERENCE, PLANAR PARALLEL ROBOT, COLLISION-FREE WORKSPACE, PERFORMANCE INDEX OF THE WORKSPACE
 
 
References: 
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Citations: 
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+ Click to Cite.
APA: Copy

ANVARI, Z., & VARSHOVI JAGHARGH, P., & TALE MASOULEH, M. (2017). THE MECHANICAL INTERFERENCE-FREE WORKSPACE OF THE PLANAR PARALLEL ROBOTS USING GEOMETRIC APPROACH. MODARES MECHANICAL ENGINEERING, 17(4 ), 101-110. https://www.sid.ir/en/journal/ViewPaper.aspx?id=572645



Vancouver: Copy

ANVARI ZOLFA, VARSHOVI JAGHARGH PAYAM, TALE MASOULEH MEHDI. THE MECHANICAL INTERFERENCE-FREE WORKSPACE OF THE PLANAR PARALLEL ROBOTS USING GEOMETRIC APPROACH. MODARES MECHANICAL ENGINEERING. 2017 [cited 2021September27];17(4 ):101-110. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=572645



IEEE: Copy

ANVARI, Z., VARSHOVI JAGHARGH, P., TALE MASOULEH, M., 2017. THE MECHANICAL INTERFERENCE-FREE WORKSPACE OF THE PLANAR PARALLEL ROBOTS USING GEOMETRIC APPROACH. MODARES MECHANICAL ENGINEERING, [online] 17(4 ), pp.101-110. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=572645.



 
 
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