Approximation of the Workspace of Parallel and Serial Struc-Ture Manipulators as Part of the Multi-Robot System

Rybak, Larisa; Malyshev, Dmitry; Бехера, Л.; Behera, Laxmidhar; Вирабян, Лусине; Virabyan, L.

doi:10.34031/article_5d4d6bfa2aa2a2.09768681

Cited by 2 publications

(2 citation statements)

References 3 publications

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“…The given constraints make it possible to determine constraints in the space of coordinates z 1 , θ, ψ, under which we calculate the set of positions of the end effector according to ( 7), ( 19), (25). It should be noted that these restrictions do not allow us to exclude the intersection of the links of the mechanism.…”

Section: Parallel Manipulator Mathematical Modelmentioning

confidence: 99%

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Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

et al. 2021

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One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the ability to rotate the robot’s base relative to the horizontal axis. The analysis of its working and technological area is carried out, taking into account singularity zones. The developed algorithms for determining the workspaces are based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities. In this case, restrictions in spaces of different coordinates are presented in the form of n-dimensional boxes. Approaches to solving two problems are proposed to determine the possible intersection of links for the collaborative performance of tasks by a multi-robotic system. The first task is to determine the intersection of the links for the given positions and the relative position of the manipulators. The second is in determining the minimum distance between the technological areas of manipulators, which consist of the workspace and all possible positions of the intermediate links.

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Section: Parallel Manipulator Mathematical Modelmentioning

confidence: 99%

“…, θ (k) between the corresponding links. The task of determining the workspace for this work is considered in other works [24,25]. Here is a brief description of the proposed solution.…”

Section: Defining the Workpace Of A Serial Manipulatormentioning

confidence: 99%

Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

et al. 2021

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Analysis and Classification of Rehabilitation Robotic Systems Based on Parallel Manipulators

Posypkin¹,

Halapyan²,

Maslova

et al. 2020

Bulletin of Belgorod State Technological University Named After. V. G. Shukhov

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One of the most actual and complex problems of medicine and neurology is the rehabilitation of patients. Robotic systems currently occupy an important place in the comprehensive rehabilitation of neurological patients with severe motor impairment of various etiologies, as well as the most socially significant and common neurological diseases. The article discusses various architectures of robotic systems for the rehabilitation of the lower limbs. The article also analyzes the work of foreign scientists who deal with these issues. As a result, a classification of rehabilitation systems has been compiled and reviewed. The structure of the rehabilitation system based on a passive orthosis and active parallel 3-PRRR robot is proposed. A numerical algorithm has been developed to determine the workspace of a 3-PRRR robot, taking into account design limitations. The algorithm is based on the concept of non-uniform coverings using interval analysis methods and is implemented in the C++ programming language. The results of computational experiments are presented. The simulation results are visualized by converting a set of three-dimensional parallelepipeds into an STL file. However, many areas remain open to theoretical research. A further area of research is the optimization of the geometric parameters of the system for carrying out rehabilitation procedures.

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Approximation of the Workspace of Parallel and Serial Struc-Ture Manipulators as Part of the Multi-Robot System

Cited by 2 publications

References 3 publications

Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning

Analysis and Classification of Rehabilitation Robotic Systems Based on Parallel Manipulators

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