A methodology to determine the functional workspace of a 6R robot using forward kinematics and geometrical methods | Posted on:2013-05-03 | Degree:M.A.Sc | Type:Thesis | University:University of Windsor (Canada) | Candidate:Gudla, Arun Gowtham | Full Text:PDF | GTID:2458390008486115 | Subject:Engineering | Abstract/Summary: | | The work envelope of a robot does not capture the effect of tool orientation. Applications will require the tool to be at a certain orientation to perform the tasks necessary. It is therefore important to introduce a parameter that can capture the effect of orientation for multiple robots and configurations. This is called the functional work space, which is a subset of the work envelope would capture the effect of orientation. This research discusses the development of establishing an assessment tool that can predict the functional work space of a robot for a certain tool-orientation pair thus aiding in proper tool, tool path, fixture, related configuration selection and placement.;Several solutions are studied and an analytical and a geometric solution is presented after a detailed study of joint dependencies, joint movements, limits, link lengths and displacements through visual, empirical and analytical approaches. The functional workspace curve for a manipulator with similar kinematic structure can be created using the geometrical solution discussed in this research. It is difficult to derive a general paradigm since different parameters such as, joint limits, angles and twist angles seem to have a different effect on the shape of the workspace. The geometrical solution employed is simple, easy to deduce and can be simulated with a commercial software package. Design decisions pertaining to configuration and reconfiguration of manipulators will benefit by employing the solution as a design/analysis tool. A case study involving an X-ray diffraction technique goniometer is presented to highlight the merits of this work. | Keywords/Search Tags: | Work, Tool, Capture the effect, Robot, Functional, Geometrical, Orientation | | Related items |
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