基于CAD的3c_ _ _ RS并联机械臂工作空间分析与表示技术

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI:10.1109/RAAD.2010.5524591

K. Arrouk, B. Bouzgarrou, G. Gogu

{"title":"基于CAD的3c_ _ _ RS并联机械臂工作空间分析与表示技术","authors":"K. Arrouk, B. Bouzgarrou, G. Gogu","doi":"10.1109/RAAD.2010.5524591","DOIUrl":null,"url":null,"abstract":"This paper presents a set of techniques, based on a geometrical approach, for workspace determination and analysis. These techniques are applied for design study of a novel modular parallel manipulator, 3-C̲RS, with 6-DOF. The proposed method is implemented in the CATIA CAD environment, which provides powerful tools for graphical programming and geometric feature handling. A new type of workspace representation is introduced allowing a fine simultaneous characterization of the translation and orientation capacities of the mobile platform.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"CAD based techniques for workspace analysis and representation of the 3C̲RS parallel manipulator\",\"authors\":\"K. Arrouk, B. Bouzgarrou, G. Gogu\",\"doi\":\"10.1109/RAAD.2010.5524591\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a set of techniques, based on a geometrical approach, for workspace determination and analysis. These techniques are applied for design study of a novel modular parallel manipulator, 3-C̲RS, with 6-DOF. The proposed method is implemented in the CATIA CAD environment, which provides powerful tools for graphical programming and geometric feature handling. A new type of workspace representation is introduced allowing a fine simultaneous characterization of the translation and orientation capacities of the mobile platform.\",\"PeriodicalId\":104308,\"journal\":{\"name\":\"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)\",\"volume\":\"69 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAAD.2010.5524591\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAAD.2010.5524591","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 9

摘要

本文提出了一套基于几何方法的工作空间确定和分析技术。将这些技术应用于一种新型6自由度模块化并联机器人——3-C _ - RS的设计研究。该方法在CATIA环境下实现，为图形化编程和几何特征处理提供了强大的工具。介绍了一种新型的工作空间表示，允许对移动平台的平移和定向能力进行精细的同时表征。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

CAD based techniques for workspace analysis and representation of the 3C̲RS parallel manipulator

This paper presents a set of techniques, based on a geometrical approach, for workspace determination and analysis. These techniques are applied for design study of a novel modular parallel manipulator, 3-C̲RS, with 6-DOF. The proposed method is implemented in the CATIA CAD environment, which provides powerful tools for graphical programming and geometric feature handling. A new type of workspace representation is introduced allowing a fine simultaneous characterization of the translation and orientation capacities of the mobile platform.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)

自引率

0.00%

发文量