Optimization of the working area of modules for relative manipulation by the method of non-uniform covering

DOI

10.2991/aime-18.2018.103How to use a DOI?

Keywords

relative handling modules, tripod, 3-RRR mechanism, uneven coating method, working area, algorithm

Abstract

The paper is devoted to various approaches used to optimize the working area of relative handling modules being part of a robotic cell for processing of irregular items. The robotic cell consists of a planar 3-RRR mechanism turning the lower platform around axis z and ensuring its forward movement on axes x and y, and a tripod, which moves the endeffector along axis z and turns it around axes x and y. As a result, the robotic cell has 6 degrees of freedom. The uneven coating method is used to create the working area. The method results in external and internal approximations set as a complex of parallelepipeds. The paper provides the results of a simulation experiment with obtained working areas of the top and lower module. The algorithms are realized in C ++ language based on Snowgoose library. The obtained results can be used to obtain the general working area of a robotic cell with relative handling modules to ensure their coordinated movement in processing.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Elena Vladimirovna Gaponenko
AU  - Larisa Alexandrovna Rybak
AU  - Dmitriy Ivanovich Malyshev
PY  - 2018/04
DA  - 2018/04
TI  - Optimization of the working area of modules for relative manipulation by the method of non-uniform covering
BT  - Proceedings of the International Conference "Actual Issues of Mechanical Engineering" (AIME 2018)
PB  - Atlantis Press
SP  - 541
EP  - 546
SN  - 2352-5401
UR  - https://doi.org/10.2991/aime-18.2018.103
DO  - 10.2991/aime-18.2018.103
ID  - Gaponenko2018/04
ER  -