Collision-free workspace of parallel mechanisms based on an interval analysis approach

Mohammad Hadi Farzaneh Kaloorazi (1) , Mehdi Tale Masouleh (2) , Stéphane Caro (3, 4, 5)

1 ETS - Ecole de Technologie Supérieure [Montréal]
2 University of Tehran
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
5 CNRS - Centre National de la Recherche Scientifique

This paper proposes an interval-based approach in order to obtain the obstacle-free workspace of parallel mechanisms containing one prismatic actuated joint per limb, which connects the base to the end-effector. This approach is represented through two cases studies, namely a 3-RPR planar parallel mechanism and the so-called 6-DOF Gough–Stewart platform. Three main features of the obstacle-free workspace are taken into account: mechanical stroke of actuators, collision between limbs and obstacles and limb interference. In this paper, a circle(planar case)/spherical(spatial case) shaped obstacle is considered and its mechanical interference with limbs and edges of the end-effector is analyzed. It should be noted that considering a circle/spherical shape would not degrade the generality of the problem, since any kind of obstacle could be replaced by its circumscribed circle/sphere. Two illustrative examples are given to highlight the contributions of the paper.

Mots clés: Mechanical interference; Collision-free workspace; Interval analysis; Parallel mechanism

Domaines: Automatique / Robotique; Génie mécanique [physics.class-ph]

Mohammad Hadi Farzaneh Kaloorazi, Mehdi Tale Masouleh, Stéphane Caro. Collision-free workspace of parallel mechanisms based on an interval analysis approach. Robotica, 2017, 35 (8), pp.1747-1760. ⟨10.1017/S0263574716000497⟩. ⟨hal-01721328⟩