اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدWorkspace and Singularity analysis of a Delta like family robot
247
0
0.0
(
0
)
تأليف
R. Jha
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gr{o}bner based elimination is used to compute the singularities of the manipulator and a Cylindrical Algebraic Decomposition algorithm is used to study the workspace and the joint space. From these algebraic objects, we propose some certified three dimensional plotting describing the the shape of workspace and of the joint space which will help the engineers or researchers to decide the most suited configuration of the manipulator they should use for a given task. Also, the different parameters associated with the complexity of the serial and parallel singularities are tabulated, which further enhance the selection of the different configuration of the manipulator by comparing the complexity of the singularity equations.
قيم البحث
اقرأ أيضاً
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables a shared p
erception, so that a physical robot not only perceives the virtual elements in its own view but also infers the utility of the human agent--the cost needed to perceive and interact in AR--by sensing the human agents gaze and pose. Such a new HRI design also affords a shared manipulation, wherein the physical robot can control and alter virtual objects in AR as an active agent; crucially, a robot can proactively interact with human agents, instead of purely passively executing received commands. In experiments, we design a resource collection game that qualitatively demonstrates how a robot perceives, processes, and manipulates in AR and quantitatively evaluates the efficacy of HRI using the shared AR workspace. We further discuss how the system can potentially benefit future HRI studies that are otherwise challenging.
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is
only composed of lower-mobility joints and actuated prismatic joints, together with the investigations on three kinematic issues of importance. The first aspect pertains to geometric modeling of the TPM in connection with its topological characteristics, such as the POC, degree of freedom and coupling degree, from which its symbolic direct kinematic solutions are readily obtained. Moreover, the decoupled properties of input-output motions are directly evaluated without Jacobian analysis. Sequentially, based upon the inverse kinematics, the singular configurations of the TPM are identified, wherein the singular surfaces are visualized by means of a Gr{o}bner based elimination operation. Finally, the workspace of the TPM is evaluated with a geometric approach. This 3-DOF TPM features less joints and links compared with the well-known Delta robot, which reduces the structural complexity. Its symbolic direct kinematics and partially-decoupled property will ease path planning and dynamic analysis. The TPM can be used for manufacturing large work pieces.
Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic design, the surgeons can feel more comfortable to conduct the surgical tas
ks with higher efficiency, and the quality of the teleoperated robotic surgery can be improved. In this paper, an Ergonomic Interaction Workspace Analysis method is proposed to optimize master manipulators and fulfil ergonomics consideration for designing a master manipulator for teleoperated robotic surgery.
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom, further dexterit
y of robot arms for multiple tasks can be achieved. Instead of increasing the number of joints of a robot to improve flexibility and adaptation, which increases control complexity, weight, and cost of the overall system, malleable robots utilise a variable stiffness link between joints allowing the relative positioning of the revolute pairs at each end of the link to vary, thus enabling a low DOF serial robot to adapt across tasks by varying its workspace. In this paper, we present the design and prototyping of a 2-DOF malleable robot, calculate the general equation of its workspace using a parameterisation based on distance geometry---suitable for robot arms of variable topology, and characterise the workspace categories that the end effector of the robot can trace via reconfiguration. Through the design and construction of the malleable robot we explore design considerations, and demonstrate the viability of the overall concept. By using motion tracking on the physical robot, we show examples of the infinite number of workspaces that the introduced 2-DOF malleable robot can achieve.
This work provides a framework for a workspace aware online grasp planner. This framework greatly improves the performance of standard online grasp planning algorithms by incorporating a notion of reachability into the online grasp planning process.
Offline, a database of hundreds of thousands of unique end-effector poses were queried for feasability. At runtime, our grasp planner uses this database to bias the hand towards reachable end-effector configurations. The bias keeps the grasp planner in accessible regions of the planning scene so that the resulting grasps are tailored to the situation at hand. This results in a higher percentage of reachable grasps, a higher percentage of successful grasp executions, and a reduced planning time. We also present experimental results using simulated and real environments.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
