Collision-free workspace of parallel mechanisms based on an interval analysis approach - Archive ouverte HAL
Article Dans Une Revue Robotica Année : 2017

Collision-free workspace of parallel mechanisms based on an interval analysis approach

Résumé

This paper proposes an interval-based approach in order to obtain the obstacle-free workspace of parallel mechanisms containing one prismatic actuated joint per limb, which connects the base to the end-effector. This approach is represented through two cases studies, namely a 3-RPR planar parallel mechanism and the so-called 6-DOF Gough–Stewart platform. Three main features of the obstacle-free workspace are taken into account: mechanical stroke of actuators, collision between limbs and obstacles and limb interference. In this paper, a circle(planar case)/spherical(spatial case) shaped obstacle is considered and its mechanical interference with limbs and edges of the end-effector is analyzed. It should be noted that considering a circle/spherical shape would not degrade the generality of the problem, since any kind of obstacle could be replaced by its circumscribed circle/sphere. Two illustrative examples are given to highlight the contributions of the paper.
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Dates et versions

hal-01721328 , version 1 (19-04-2018)

Identifiants

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Mohammad Hadi Farzaneh Kaloorazi, Mehdi Tale Masouleh, Stéphane Caro. Collision-free workspace of parallel mechanisms based on an interval analysis approach. Robotica, 2017, 35 (8), pp.1747-1760. ⟨10.1017/S0263574716000497⟩. ⟨hal-01721328⟩
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