|
|||||
|
|
Reachable workspace determination for a spatial hyper-redundant manipulator formed by several parallel manipulators |
|
| Authors: | Hu Bo Cui He Shi Dongsheng Zhang Dongsheng Wang Andong Wang Ying Zhang Qian |
| Affiliation: | 1.Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China ;2.Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei, 066004, China ;3.College of Mechanical Engineering, North China University of Science and Technology, Tangshan, 063210, China ;4.School of Environmental and Chemical Engineering, Yanshan University, Qinhuangdao, 066004, China ; |
| Abstract: | Solving the reachable workspaces of spatial hyper-redundant manipulators (SHRMs) formed by serially connected parallel manipulators is an important and challenging work. This study addresses the issue on reachable workspaces and establishes a novel CAD-VBbased workspace determination system for determining the reachable workspaces of SHRMs. The reachable workspace determination of a novel (3-RPS)+(3-SPR)+(3-RPS) SHRM, a triple delta-type SHRM, and a novel (3-RRS)+(3-SPR)+(3-RRS) SHRM shows the generality and effectiveness of the proposed approach. The system proposed in this study can contribute to reachable workspace analysis for SHRMs. |
| Keywords: | |
| 本文献已被 SpringerLink 等数据库收录！ | |