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Determination of Workspace Volume of Parallel Manipulators Using Monte Carlo Method

Chaudhury, Arkadeep Narayan and Ghosal, Ashitava (2018) Determination of Workspace Volume of Parallel Manipulators Using Monte Carlo Method. In: 7th International Workshop on Computational Kinematics (CK), MAY, 2017, Univ Poitiers, Fundamental & Appl Sci Fac, FRANCE, pp. 323-330.

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Official URL: https://dx.doi.org/10.1007/978-3-319-60867-9_37

Abstract

In this paper, we present a Monte Carlo simulation based method to determine the workspace of spatial parallel and hybrid manipulators. The method does not need the solution of the forward kinematics problem which is often difficult for spatial multi-degree-of-freedom parallel and hybrid manipulators. The method uses the solution of the inverse kinematics problem, which is often much simpler. The method can also readily incorporate joint limits and obtain the well-conditioned workspace. The approach is illustrated with a six-degree-of-freedom hybrid parallel manipulator which is a model for a human hand with three fingers. A typical human hand geometry and the range of motion at the joints are incorporated and the inverse kinematics equations for each finger is derived and used to obtain the volume of the hybrid parallel manipulator.

Item Type: Conference Proceedings
Additional Information: Copy right of this article belong to SPRINGER INTERNATIONAL PUBLISHING AG, GEWERBESTRASSE 11, CHAM, CH-6330, SWITZERLAND
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Depositing User: Id for Latest eprints
Date Deposited: 15 Jun 2018 14:42
Last Modified: 15 Jun 2018 14:42
URI: http://eprints.iisc.ac.in/id/eprint/60023

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