Parametric sweep search for parallel robot workspace determination

Abdullah, Che Zulkhairi (2013). Parametric sweep search for parallel robot workspace determination. University of Birmingham. Ph.D.

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Abstract

The research involves the development of a 3-dimensional simulation system based on Python in order to search for workspace and singularity of parallel robots. The work is based on the principles of Kinematic and Grassman analysis, which integrates easily with various algorithms. The simulation system produces a scalable result suitable for interval and slicing analysis. The code should work effortlessly when user redefines the architecture or geometry of the robot. Boolean Parametric sweep search strategy has been developed for further analysis and validation of the system. The system has to consider various factors such as limits, edges, resolution, and travel direction. It involves the integration of 3D and 4D interpolation and extrapolation strategies including Trilinear and L-system fractal, which are controlled by Boolean algorithm. A haptic force-feedback controller has been developed, which is a multiple Degree-of-Freedom device with two-way motor control for all axes. Sensors are used to provide pre-processed values for distance and orientation on all axes. The haptic device provides (i) control for the Python simulation, (ii) processed data to a Matlab and Solid Works models, and (iii) singularity-free control of an associated physical robot. The proposed system was successfully verified against a number of applications.

Type of Work:

Thesis (Doctorates > Ph.D.)

Award Type:

Doctorates > Ph.D.

Supervisor(s):