A simulation driven development framework for parallel kinematics

Procedia manufacturing Pub Date : 2021-01-01 DOI:10.1016/j.promfg.2021.10.010

Lukas Bath , Thorsten Schüppstuhl

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引用次数: 1

Abstract

This work presents a novel software tool to design, analyze and simulate parallel robots. It considers any desired constraints, requirements and load scenarios, while being able to be used by non-experts. This is comprehensively shown for one kind of the Gough/Stewart-platform kinematics class. First, the inverse kinematics is derived, which allows for the interactive exploration of the workspace, as well as other properties, prior to building the machine. In addition, the forward kinematics are implemented iteratively. The validation of the simulation is done by presenting a low cost, six degree of freedom robot for laboratory applications, being designed using this framework. Here, both the inverse and forward kinematics are used in real time to allow for precise and correct movement, detailed in-process measurements, such as process loads, along with overload protection. The approach fosters the efficient selection of existing as well as the design of custom robots of this kind.

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一个仿真驱动的并行运动学开发框架

这项工作提出了一种新的软件工具来设计、分析和模拟并联机器人。它考虑了任何期望的约束、需求和负载场景，同时能够被非专业人员使用。这在Gough/ stewart平台运动学类中得到了全面的展示。首先，导出了逆运动学，这允许在构建机器之前对工作空间以及其他属性进行交互式探索。此外，迭代地实现了正运动学。通过提出一个低成本，实验室应用的六自由度机器人，正在使用该框架设计仿真验证。在这里，实时使用逆运动学和正运动学，以实现精确和正确的运动，详细的过程中测量，如过程负载，以及过载保护。该方法促进了对现有机器人的有效选择以及这类定制机器人的设计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Procedia manufacturing

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