Determination of the Workspace of Delta 3-DOF and 4-DOF Parallel Robots Using Interval Analysis

نوع: Type: thesis

مقطع: Segment: masters

عنوان: Title: Determination of the Workspace of Delta 3-DOF and 4-DOF Parallel Robots Using Interval Analysis

ارائه دهنده: Provider: Fatemeh Pourkariman

اساتید راهنما: Supervisors: Mahdi Karimi (Ph.D)

اساتید مشاور: Advisory Professors: Payam Varshovi-Jaghargh (Ph.D)

اساتید ممتحن یا داور: Examining professors or referees: Alireza Shooshtari (Ph.D) - Hashem Mazaheri (Ph.D)

زمان و تاریخ ارائه: Time and date of presentation: 14.03.2021

مکان ارائه: Place of presentation:

چکیده: Abstract: A parallel robot is a closed-loop mechanism whose moving platform (end effector) is linked to the fixed platform by at least two kinematic chains. In recent years, parallel robots have been considered by researchers due to their advantages such as high accuracy and high stiffness. But, in comparison with serial robots, have smaller workspace, which has limited them. Therefore, determination of workspace plays an important role in robot design specifically in montage process. Previous studies have used geometrical approach and node search to determine the workspace of parallel robots. Despite the advantages of the mentioned methods, there are some drawbacks that reduce their efficiency. In this thesis, a new method with algorithm and pseudo code has been provided to determine the workspace of Delta 3-DOF and 4-DOF parallel robots. This algorithm is based on the concepts of interval analysis and solves the drawbacks of previous methods. The proposed algorithm was applied to the robots with hypothetical parameters, then has been studied the effect of geometrical parameters on the workspace. In order to validate the proposed algorithm, the results of the interval analysis method are compared with the geometrical method and the node search method. Workspace of the mentioned robots has been drawn using the geometrical method for comparison with the interval analysis. The results were compared with the node search method results from one of the previous related researches. At the end, the workspace of the Delta robots made in the Human & Robot Interaction Laboratory of the University of Tehran was determined using the interval analysis method. It should be noted that the proposed algorithm in this thesis can be generalized to other parallel robots.

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