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A simulation driven development framework for parallel kinematics
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| Veröffentlicht in: | Procedia manufacturing (2021), Seite 64-71$v55 |
|---|---|
| Personen und Körperschaften: | , |
| Titel: | A simulation driven development framework for parallel kinematics/ Lukas Bath, Thorsten Schüppstuhl |
| Format: | E-Book-Kapitel |
| Sprache: | Englisch |
| veröffentlicht: |
2021
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| Gesamtaufnahme: |
: Procedia manufacturing, (2021), Seite 64-71$v55
, year:2021 |
| Quelle: | Verbunddaten SWB Lizenzfreie Online-Ressourcen |
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| contents | This work presents a novel software tool to design, analyze and simulate parallel robots. It considers any desired constraints, requirements and load scenarios, while being able to be used by non-experts. This is comprehensively shown for one kind of the Gough/Stewart-platform kinematics class. First, the inverse kinematics is derived, which allows for the interactive exploration of the workspace, as well as other properties, prior to building the machine. In addition, the forward kinematics are implemented iteratively. The validation of the simulation is done by presenting a low cost, six degree of freedom robot for laboratory applications, being designed using this framework. Here, both the inverse and forward kinematics are used in real time to allow for precise and correct movement, detailed in-process measurements, such as process loads, along with overload protection. The approach fosters the efficient selection of existing as well as the design of custom robots of this kind. |
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| spelling | Bath, Lukas VerfasserIn (DE-588)1223102882 (DE-627)1742420311 aut, A simulation driven development framework for parallel kinematics Lukas Bath, Thorsten Schüppstuhl, 2021, Diagramme, Text txt rdacontent, Computermedien c rdamedia, Online-Ressource cr rdacarrier, DE-830 Open Access Controlled Vocabulary for Access Rights http://purl.org/coar/access_right/c_abf2, This work presents a novel software tool to design, analyze and simulate parallel robots. It considers any desired constraints, requirements and load scenarios, while being able to be used by non-experts. This is comprehensively shown for one kind of the Gough/Stewart-platform kinematics class. First, the inverse kinematics is derived, which allows for the interactive exploration of the workspace, as well as other properties, prior to building the machine. In addition, the forward kinematics are implemented iteratively. The validation of the simulation is done by presenting a low cost, six degree of freedom robot for laboratory applications, being designed using this framework. Here, both the inverse and forward kinematics are used in real time to allow for precise and correct movement, detailed in-process measurements, such as process loads, along with overload protection. The approach fosters the efficient selection of existing as well as the design of custom robots of this kind., DE-830 Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International CC BY-NC-ND 4.0 cc https://creativecommons.org/licenses/by-nc-nd/4.0/, Schüppstuhl, Thorsten 1969- VerfasserIn (DE-588)124518761 (DE-627)363392092 (DE-576)294210989 aut, Enthalten in Procedia manufacturing Amsterdam [u.a.] : Elsevier, 2015 (2021), Seite 64-71$v55 Online-Ressource (DE-627)840600437 (DE-600)2840662-X (DE-576)452253039 2351-9789 nnns, year:2021 pages:64-71$v55, http://nbn-resolving.de/urn:nbn:de:gbv:830-882.0161957 Resolving-System kostenfrei, https://doi.org/10.15480/882.4083 Resolving-System kostenfrei, http://hdl.handle.net/11420/11211 Resolving-System kostenfrei, https://doi.org/10.1016/j.promfg.2021.10.010 Resolving-System, https://doi.org/10.1016/j.promfg.2021.10.010 LFER, http://nbn-resolving.de/urn:nbn:de:gbv:830-882.0161957 LFER, LFER 2022-01-28T09:41:15Z |
| spellingShingle | Bath, Lukas, Schüppstuhl, Thorsten, A simulation driven development framework for parallel kinematics, This work presents a novel software tool to design, analyze and simulate parallel robots. It considers any desired constraints, requirements and load scenarios, while being able to be used by non-experts. This is comprehensively shown for one kind of the Gough/Stewart-platform kinematics class. First, the inverse kinematics is derived, which allows for the interactive exploration of the workspace, as well as other properties, prior to building the machine. In addition, the forward kinematics are implemented iteratively. The validation of the simulation is done by presenting a low cost, six degree of freedom robot for laboratory applications, being designed using this framework. Here, both the inverse and forward kinematics are used in real time to allow for precise and correct movement, detailed in-process measurements, such as process loads, along with overload protection. The approach fosters the efficient selection of existing as well as the design of custom robots of this kind. |
| title | A simulation driven development framework for parallel kinematics |
| title_auth | A simulation driven development framework for parallel kinematics |
| title_full | A simulation driven development framework for parallel kinematics Lukas Bath, Thorsten Schüppstuhl |
| title_fullStr | A simulation driven development framework for parallel kinematics Lukas Bath, Thorsten Schüppstuhl |
| title_full_unstemmed | A simulation driven development framework for parallel kinematics Lukas Bath, Thorsten Schüppstuhl |
| title_in_hierarchy | A simulation driven development framework for parallel kinematics / Lukas Bath, Thorsten Schüppstuhl, |
| title_short | A simulation driven development framework for parallel kinematics |
| title_sort | simulation driven development framework for parallel kinematics |
| url | http://nbn-resolving.de/urn:nbn:de:gbv:830-882.0161957, https://doi.org/10.15480/882.4083, http://hdl.handle.net/11420/11211, https://doi.org/10.1016/j.promfg.2021.10.010 |
| urn | urn:nbn:de:gbv:830-882.0161957 |