C. Budde, P. Last, and J. Hesselbach (Germany)
Robotics, Industrial Automation, Parallel Robots, Singularities, Workspace Enlargement
One of the main tasks to encourage a wider use of parallel kinematics in handling and assembly is to find measures to diminish the drawbacks to these structures, such as singularities in the workspace or the small ratio of workspace to installation space. The latter can be tackled using an approach presented in this article. By using several workspaces corresponding to different working and assembly modes (different solutions to inverse and direct kinematic problem) an overall workspace can be obtained, which is substantially larger than the original workspace. The procedure to change between the workspaces requires the passing of singularities and is described exemplarily for a spatial parallel structure. It is based on the well known triglide structure and is especially adapted for passing singularities. For the necessary passing of a singularity of type two, in which the endeffector cannot be controlled by the drives, an approach using gravity is proposed.
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