Workspace analysis of a two-degree-of-freedom redundantly driven parallel robot

Jianshu Gao; Zhiming Zhou

doi:10.1117/12.2684639

21 July 2023 Workspace analysis of a two-degree-of-freedom redundantly driven parallel robot

Jianshu Gao, Zhiming Zhou

Proceedings Volume 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023); 127170P (2023) https://doi.org/10.1117/12.2684639
Event: 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 2023, Wuhan, China

Abstract

A two-degree-of-freedom redundantly driven parallel robot is proposed to address the drawback that the two-degree-of-freedom parallel robot cannot reach the boundary. Firstly, the positive and negative solutions of the two-degree-of-freedom redundantly driven parallel robot are solved by the D-H parametric method, and then the joint kinematic simulation is carried out by ADAMS and MATLAB; finally, the Monte Carlo method is used to analyze the workspace before and after adding the redundant drive. The kinematic inverse solution was found to be correct, and the redundant drive was able to increase the working space. The results of this study have important theoretical implications for the dynamics analysis and structural design optimization of redundantly driven robots.

Citation Download Citation

Jianshu Gao and Zhiming Zhou "Workspace analysis of a two-degree-of-freedom redundantly driven parallel robot", Proc. SPIE 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 127170P (21 July 2023); https://doi.org/10.1117/12.2684639

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