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Free singularity path planning of hybrid parallel robot

Rakhodaei, HR; Rastegarpanah, A; Ding, CD; Saadat, MS; (2013) Free singularity path planning of hybrid parallel robot. In: Shehab, Essam and Ball, Peter and Tjahjono, Benny, (eds.) Proceedings of the 11th International Conference on Manufacturing Research (ICMR2013), Cranfield University, UK,. (pp. pp. 313-318). Cranfield University: UK. Green open access

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Abstract

This paper presents a singularity-free path planning approach for a hybrid parallel robot. The hybrid robot is composed of two well-known parallel robots, a hexapod and a tripod, that are serially connected. In this paper a methodology is developed to avoid singularity configurations of the hybrid parallel robot. Nominal polynomial paths are used for motion of end effector, and the strokes of each actuator is calculated by using the developed inverse kinematic. A MATLAB program has been developed to generate the designed paths, and several poses have been tested in a CAD model of the hybrid parallel robot to validate the feasibility of the path planning approach.

Type: Proceedings paper
Title: Free singularity path planning of hybrid parallel robot
Event: International Conference on Manufacturing Research (ICMR2013)
Location: Cranfield , UK
Dates: 19 September 2013 - 20 September 2013
ISBN-13: 978-1-907413-23-0
Open access status: An open access version is available from UCL Discovery
Language: English
Additional information: This article is published under Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/)
Keywords: Parallel Robot, Path planning, Singularity
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
URI: https://discovery.ucl.ac.uk/id/eprint/1559141
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