Symmetrical Workspace of 6-UPS Parallel Robot Using Tilt and Torsion Angles
Joint Authors
Liu, Yanli
Yang, Yuxuan
Zou, Shangyuan
Zhang, Xuexiang
Wang, Yaoyao
Hongtao, Wu
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-06-21
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
For the fast and efficient closed-loop real-time feedback control of 6-UPS parallel robot (6-UPS), a novel high efficiency calculation of the workspace is proposed and investigated.
As a typical Nearly General Platform (NGP), 6-UPS has good symmetries.
The symmetries effectively reduce computational cost and improve computational efficiency in the kinematics, singularity, dynamics, and optimization.
To scrupulously demonstrate the symmetries of workspace, a novel algorithm is proposed.
The modified Euler angles (T&T angles) are employed to represent the orientation matrix of 6-UPS, the inverse kinematics is analyzed, and the workspace of 6-UPS is obtained using the discretization algorithm.
Meanwhile, the symmetries of the total orientation workspace are also proved.
Compared with the traditional methods, the total orientation workspace reduces 5/6 computation cost, which means that the corresponding computation efficiency is increased by 6 times.
Through theoretical and numerical calculations, the symmetries of the total orientation workspace of 6-UPS are verified.
The proof of the symmetries lays a solid foundation for improving the computational efficiency of kinematics, dynamics, and control of 6-UPS.
American Psychological Association (APA)
Liu, Yanli& Hongtao, Wu& Yang, Yuxuan& Zou, Shangyuan& Zhang, Xuexiang& Wang, Yaoyao. 2018. Symmetrical Workspace of 6-UPS Parallel Robot Using Tilt and Torsion Angles. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1208380
Modern Language Association (MLA)
Liu, Yanli…[et al.]. Symmetrical Workspace of 6-UPS Parallel Robot Using Tilt and Torsion Angles. Mathematical Problems in Engineering No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1208380
American Medical Association (AMA)
Liu, Yanli& Hongtao, Wu& Yang, Yuxuan& Zou, Shangyuan& Zhang, Xuexiang& Wang, Yaoyao. Symmetrical Workspace of 6-UPS Parallel Robot Using Tilt and Torsion Angles. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1208380
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1208380