Free singularity path planning of hybrid parallel robot

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dc.contributor.authorRakhodaei, Hamid
dc.contributor.authorRastegarpanah, Alireza
dc.contributor.authorDing, Chengjian
dc.contributor.authorSaadat, Mozafar
dc.date.accessioned2015-09-25T05:54:25Z
dc.date.available2015-09-25T05:54:25Z
dc.date.issued2013-09-19
dc.description.abstractThis 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.en_UK
dc.identifier.citationRakhodaei H., Ding C., Saadat M. and Rastegarpanah A. (2013). Free singularity path planning of hybrid parallel robot. Proceedings of the 11th International Conference on Manufacturing Research (ICMR2013), Cranfield University, UK, 19th – 20th September 2013, pp 313-318en_UK
dc.identifier.isbn9781907413230
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/9482
dc.language.isoenen_UK
dc.publisherCranfield University Pressen_UK
dc.relation.ispartofseriesHuman, Robots and Digital Manufacturingen_UK
dc.relation.ispartofseries4en_UK
dc.subjectParallel Roboten_UK
dc.subjectSingularityen_UK
dc.subjectPath planningen_UK
dc.titleFree singularity path planning of hybrid parallel roboten_UK
dc.typeConference paperen_UK

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International Conference on Manufacturing Research (ICMR 2013)