{"title":"基于CAD的3c_ _ _ RS并联机械臂工作空间分析与表示技术","authors":"K. Arrouk, B. Bouzgarrou, G. Gogu","doi":"10.1109/RAAD.2010.5524591","DOIUrl":null,"url":null,"abstract":"This paper presents a set of techniques, based on a geometrical approach, for workspace determination and analysis. These techniques are applied for design study of a novel modular parallel manipulator, 3-C̲RS, with 6-DOF. The proposed method is implemented in the CATIA CAD environment, which provides powerful tools for graphical programming and geometric feature handling. A new type of workspace representation is introduced allowing a fine simultaneous characterization of the translation and orientation capacities of the mobile platform.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"CAD based techniques for workspace analysis and representation of the 3C̲RS parallel manipulator\",\"authors\":\"K. Arrouk, B. Bouzgarrou, G. Gogu\",\"doi\":\"10.1109/RAAD.2010.5524591\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a set of techniques, based on a geometrical approach, for workspace determination and analysis. These techniques are applied for design study of a novel modular parallel manipulator, 3-C̲RS, with 6-DOF. The proposed method is implemented in the CATIA CAD environment, which provides powerful tools for graphical programming and geometric feature handling. A new type of workspace representation is introduced allowing a fine simultaneous characterization of the translation and orientation capacities of the mobile platform.\",\"PeriodicalId\":104308,\"journal\":{\"name\":\"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)\",\"volume\":\"69 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAAD.2010.5524591\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAAD.2010.5524591","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
CAD based techniques for workspace analysis and representation of the 3C̲RS parallel manipulator
This paper presents a set of techniques, based on a geometrical approach, for workspace determination and analysis. These techniques are applied for design study of a novel modular parallel manipulator, 3-C̲RS, with 6-DOF. The proposed method is implemented in the CATIA CAD environment, which provides powerful tools for graphical programming and geometric feature handling. A new type of workspace representation is introduced allowing a fine simultaneous characterization of the translation and orientation capacities of the mobile platform.
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