| Issue |
MATEC Web Conf.
Volume 388, 2023
2023 RAPDASA-RobMech-PRASA-AMI Conference Advanced Manufacturing Beyond Borders - The 24th Annual International RAPDASA Conference joined by RobMech, PRASA and AMI, hosted by CSIR and CUT
|
|
|---|---|---|
| Article Number | 04010 | |
| Number of page(s) | 12 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202338804010 | |
| Published online | 15 December 2023 | |
Methods of workspace generation for parallel kinematic manipulators
Discpline of Mechanical Engineering, School of Engineering, University of KwaZulu-Natal, South Africa
* Corresponding author: DharmalingumW@ukzn.ac.za
This paper presents the geometric, discretization and Monte Carlo method to generate the workspace for Parallel Kinematic Manipulators (PKMs). The geometric method does not require the solution to the inverse kinematics as opposed to the Monte Carlo and discretization methods. Each method possesses advantages and drawbacks concerning accuracy, time and ease of implementation. A case study concerning constant orientation workspace of a planar 3RRR PKM showed that the most efficient and accurate method was the geometric method but it also possessed the most limitations. The discretization and Monte Carlo methods produced the workspace with an accuracy of 92.49% and 95.67% respectively.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.