Generation of the global workspace roadmap of the 3-RPR using rotary disk search

Au, W; Chung, H; Chen, C

Generation of the global workspace roadmap of the 3-RPR using rotary disk search

Au, W

Chung, H Chen, C

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Publication Type:: Journal Article
Citation:: Mechanism and Machine Theory, 2014, 78 pp. 248 - 262
Issue Date:: 2014-01-01

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Field	Value	Language
dc.contributor.author	Au, W https://orcid.org/0000-0003-3101-2322	en_US
dc.contributor.author	Chung, H	en_US
dc.contributor.author	Chen, C	en_US
dc.date.issued	2014-01-01	en_US
dc.identifier.citation	Mechanism and Machine Theory, 2014, 78 pp. 248 - 262	en_US
dc.identifier.issn	0094-114X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/88537
dc.description.abstract	Path planning for parallel manipulators in the configuration space can be a challenging task due to the existence of multiple direct kinematic solutions. Hence the aim of this paper is to define a generalised hierarchical path planning scheme for trajectory generation between two configurations in the configuration space for manipulators that exhibit more than one solution in their direct kinematics. This process is applied to the 3-RPR mechanism, constrained to a 2-DOF system by setting active joint parameter ρ1 to a constant. The overall reachable workspace is discretised and deconstructed into smaller patches, which are then stitched together creating a global workspace roadmap. Using the roadmap, path feasibility is obtained and local path planning is used to generate a complete trajectory. This method can determine a singularity-free path between any two connectible points in the configuration space, including assembly mode changes. © 2014 Elsevier Ltd.	en_US
dc.relation.ispartof	Mechanism and Machine Theory	en_US
dc.relation.isbasedon	10.1016/j.mechmachtheory.2014.03.017	en_US
dc.subject.classification	Design Practice & Management	en_US
dc.title	Generation of the global workspace roadmap of the 3-RPR using rotary disk search	en_US
dc.type	Journal Article
utslib.citation.volume	78	en_US
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	78	en_US

Abstract:

Path planning for parallel manipulators in the configuration space can be a challenging task due to the existence of multiple direct kinematic solutions. Hence the aim of this paper is to define a generalised hierarchical path planning scheme for trajectory generation between two configurations in the configuration space for manipulators that exhibit more than one solution in their direct kinematics. This process is applied to the 3-RPR mechanism, constrained to a 2-DOF system by setting active joint parameter ρ1 to a constant. The overall reachable workspace is discretised and deconstructed into smaller patches, which are then stitched together creating a global workspace roadmap. Using the roadmap, path feasibility is obtained and local path planning is used to generate a complete trajectory. This method can determine a singularity-free path between any two connectible points in the configuration space, including assembly mode changes. © 2014 Elsevier Ltd.

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http://hdl.handle.net/10453/88537