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Reachable workspace determination for a spatial hyper-redundant manipulator formed by several parallel manipulators

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Abstract

Solving the reachable workspaces of spatial hyper-redundant manipulators (SHRMs) formed by serially connected parallel manipulators is an important and challenging work. This study addresses the issue on reachable workspaces and establishes a novel CAD-VBbased workspace determination system for determining the reachable workspaces of SHRMs. The reachable workspace determination of a novel (3-RPS)+(3-SPR)+(3-RPS) SHRM, a triple delta-type SHRM, and a novel (3-RRS)+(3-SPR)+(3-RRS) SHRM shows the generality and effectiveness of the proposed approach. The system proposed in this study can contribute to reachable workspace analysis for SHRMs.

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Author information

Authors and Affiliations

  1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Bo Hu, He Cui, Dongsheng Shi, Dongsheng Zhang & Andong Wang

  2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Bo Hu, He Cui, Dongsheng Shi, Dongsheng Zhang & Andong Wang

  3. College of Mechanical Engineering, North China University of Science and Technology, Tangshan, 063210, China

    Ying Wang

  4. School of Environmental and Chemical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Qian Zhang

Authors
  1. Bo Hu
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  2. He Cui
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  3. Dongsheng Shi
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  4. Dongsheng Zhang
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  5. Andong Wang
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  6. Ying Wang
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  7. Qian Zhang
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Corresponding authors

Correspondence to Bo Hu or Qian Zhang.

Additional information

Recommended by Associate Editor Yang Shi

Bo Hu was born in 1982 in Hubei, P.R. China. He obtained his B.S. degree at the Hubei University of Technology in Wuhan, PR China in 2004 and his Ph.D. at the School of Mechanical Engineering, Yanshan University in Qinhuangdao, PR China in 2010. He has been a Lecturer at the School of Mechanical Engineering, Yanshan University since 2010. His major research focuses on the kinematics and dynamics of robotic systems. He has authored/co-authored and published more than 40 regular papers in several journals about these topics.

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Hu, B., Cui, H., Shi, D. et al. Reachable workspace determination for a spatial hyper-redundant manipulator formed by several parallel manipulators. J Mech Sci Technol 33, 869–877 (2019). https://doi.org/10.1007/s12206-019-0144-1

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  • DOI: https://doi.org/10.1007/s12206-019-0144-1

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