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<p>The parallel robots workspace plays an important role in their design and construction. In this paper, a new algorithm is presented based on the concepts of interval analysis to determine the parallel robots workspace by considering joints ranges of motion. The proposed algorithm is based on the kinematics equations, interval arithmetic computations and refinement method. In this algorithm, the system of interval nonlinear equations obtained from kinematic analysis is solved simultaneously and the refinement operation is carried out to accurately calculate the intervals of the equations. A type of refinement operation, namely the slope form, is used in this method to eliminate the excess width of intervals of equations. The proposed algorithm is implemented on 3 and 4-DOF Delta parallel robots of Human and Robot Interaction Laboratory of Tehran university. The workspace of 3-DOF Delta parallel robot and the constant-orientation workspace of 4-DOF Delta parallel obtained from the proposed method for the different active joints ranges of motion are compared with the results of the method based on interval analysis without refinement operation and the geometric method. The results show that the proposed algorithm calculates the parallel robot workspace with appropriate accuracy.</p>

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Workspace analysis of parallel mechanisms by considering active joints ranges of motion using a method based on interval analysis

  • 期刊论文

  • 发表日期：

    2025年4月7日

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  • Fatemeh Pourkariman,
  • Mehdi Karimi,
  • Payam Varshovi-Jaghargh,
  • Mehdi Tale Masouleh

摘要

The parallel robots workspace plays an important role in their design and construction. In this paper, a new algorithm is presented based on the concepts of interval analysis to determine the parallel robots workspace by considering joints ranges of motion. The proposed algorithm is based on the kinematics equations, interval arithmetic computations and refinement method. In this algorithm, the system of interval nonlinear equations obtained from kinematic analysis is solved simultaneously and the refinement operation is carried out to accurately calculate the intervals of the equations. A type of refinement operation, namely the slope form, is used in this method to eliminate the excess width of intervals of equations. The proposed algorithm is implemented on 3 and 4-DOF Delta parallel robots of Human and Robot Interaction Laboratory of Tehran university. The workspace of 3-DOF Delta parallel robot and the constant-orientation workspace of 4-DOF Delta parallel obtained from the proposed method for the different active joints ranges of motion are compared with the results of the method based on interval analysis without refinement operation and the geometric method. The results show that the proposed algorithm calculates the parallel robot workspace with appropriate accuracy.