Devising a method to analyze the current state of the manipulator workspace

Authors

DOI:

https://doi.org/10.15587/1729-4061.2021.225121

Keywords:

kinematic scheme, grab pole, coordinate conversion, workspace, reach limits

Abstract

This paper has proposed a program analysis method over the current state of the workspace of an anthropomorphic manipulator using the Mathcad software application package (USA). The analysis of the manipulator workspace helped solve the following sub-tasks: to calculate the limits of the grip reach, to determine the presence of "dead zones" within the manipulator workspace, to build the boundaries of the manipulator workspace. A kinematic scheme of the manipulator typically provides for at least five degrees of mobility, which is why in the three-dimensional Cartesian coordinate system the work zone boundaries represent the surfaces of a complex geometric shape. The author-devised method makes it possible to construct the projections of the boundaries of the manipulator's work zone onto the coordinate planes in the frame of reference associated with the base of the robot.

Using Mathcad's built-in features makes it possible to effectively solve the above sub-tasks without wasting time developing specialized software. The Mathcad software application package provides for the possibility of a symbolic solution to the first problem of the kinematics of an industrial robot, that is, the program generates analytical dependences of the coordinates for special point P (pole) of the grip on the trigonometrical functions of the generalized coordinates. The resulting analytical dependences are used for kinematic and dynamic analysis of the manipulator.

Special features in constructing mathematical models when using the Mathcad software application package have been revealed. Simulating the manipulator movement taking into consideration constraints for kinematic pairs, the drives' power, as well as friction factors, makes it possible to optimize the parameters of the manipulator kinematic scheme.

An example of the analysis of the working space of an anthropomorphic manipulator with five degrees of mobility has been considered.

The reported results could be used during the design, implementation, modernization, and operation of manipulators.

Author Biography

Natalja Ashhepkova, Oles Honchar Dnipro National University

PhD, Associate Professor

Department of Mechanotronics

References

  1. Grigoriev, S. N., Andreev, A. G., Ivanovsky, S. P. (2013). Present State and Prospects of Industrial Robotics. Mehatronika, avtomatizatsiya, upravlenie, 1, 30–34.
  2. Schwandt, A., Yuschenko, A. S. (2013). Industrial robot application for advanced mechanical shaping technologies. Robototehnika i tehnicheskaya kibernetika, 1 (1), 18–21.
  3. Tang, M., Gu, Y., Wang, S., Liang, Q., Wang, X. (2019). Planning of safe working space for the hot-line working robot ICBot. International Journal of Applied Electromagnetics and Mechanics, 61 (1), 97–110. doi: https://doi.org/10.3233/jae-180057
  4. Hou, R. G., Gao, J., Li, Z. Y., Wang, S. J., Zhao, G. Y. (2012). Analysis of the Movable Cotton Robot Palletizer Working Space Based on Graphing Method. Advanced Materials Research, 500, 454–459. doi: https://doi.org/10.4028/www.scientific.net/amr.500.454
  5. Goritov, A. N. (2017). Building a three-dimensional model of the workspace of an industrial robot. Proceedings of Tomsk State University of Control Systems and Radioelectronics, 20 (4), 117–121. doi: https://doi.org/10.21293/1818-0442-2017-20-4-117-121
  6. Antoshkin, S. B., Bakanov, M. V., Sizykh, V. N. (2019). An autonomous robot control system based on an inverse problems method in dynamics. Modern Technologies. System Analysis. Modeling, 62 (2), 15–23. doi: https://doi.org/10.26731/1813-9108.2019.2(62).15-23
  7. Khomchenko, V. G. (2018). About ways of the task of orientation of the working body of the robot manipulator. Dynamics of Systems, Mechanisms and Machines, 6 (2), 76–81. doi: https://doi.org/10.25206/2310-9793-2018-6-2-76-81
  8. He, B., He, X. L., Han, L. Z., Cao, J. T., Li, M., Tian, Y. Z. (2010). Working Space Analysis and Simulation of Modular Service Robot Arm Based on Monte Carlo Method. Applied Mechanics and Materials, 34-35, 1104–1108. doi: https://doi.org/10.4028/www.scientific.net/amm.34-35.1104
  9. Lopatin, P. K. (2012). Algoritm issledovaniya dostizhimosti obekta manipulyatorom v neizvestnoy srede. Mehanotronika, avtomatizatsiya, upravlenie, 9, 49–52.
  10. Lopatin, P. (2019). Manipulator control in an unknown static environment. Robotics and Technical Cybernetics, 7 (1), 58–64. doi: https://doi.org/10.31776/rtcj.7108
  11. Xie, B. (2012). Motion Planning of Reaching Point Movements for 7R Robotic Manipulators in Obstacle Environment Based on Rapidly-exploring Random Tree Algorithm. Journal of Mechanical Engineering, 48 (03), 63. doi: https://doi.org/10.3901/jme.2012.03.063
  12. Schwandt, A., Yuschenko, A. (2020). Collaborative manipulation robots programming with the use of augmented reality interface. Robotics and Technical Cybernetics, 8 (2), 139–149. doi: https://doi.org/10.31776/rtcj.8205
  13. Pritykin, F. N., Nefedov, D. E. (2016). Study of the Surfaces Defining the Area Boundaries of the Allowable Configurations of the Mobile Manipulator Mechanism with the Available Forbidden Zones. Mehatronika, Avtomatizacia, Upravlenie, 17 (6), 407–413. doi: https://doi.org/10.17587/mau.17.407-413
  14. Pritykin, F. N., Nefedov, D. I. (2018). Creating a knowledge base about past experience in the synthesis of arm movements of an android robot based on the use of the area of allowed configurations. Software systems and computational methods, 4, 60–67. doi: https://doi.org/10.7256/2454-0714.2018.4.26638
  15. Karavaev, Yu. L., Shestakov, V. A. (2018). Construction of a Service Area of a Highly Maneuverable Mobile Manipulation Robot. Intelligent Systems in Manufacturing, 16 (3), 90–96. doi: https://doi.org/10.22213/2410-9304-2018-3-90-96
  16. Li, W., Xiong, R. (2019). Dynamical Obstacle Avoidance of Task- Constrained Mobile Manipulation Using Model Predictive Control. IEEE Access, 7, 88301–88311. doi: https://doi.org/10.1109/access.2019.2925428
  17. Krasnov, A. Y., Chepinskiy, S. A., Yifan, C., Huimin, L., Kholunin, S. A. (2017). Trajectory control for a robot motion in presense of moving obstacles. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 17 (5), 790–797. doi: https://doi.org/10.17586/2226-1494-2017-17-5-790-797
  18. Korsakov, A., Astapova, L., Smirnova, E. (2020). Object-oriented reconstruction of manipulator’s working area by point cloud. Robotics and Technical Cybernetics, 8 (3), 198–205. doi: https://doi.org/10.31776/rtcj.8305
  19. Ashchepkova, N. (2015). Mathcad in the kinematic and dynamic analysis of the manipulator. Eastern-European Journal of Enterprise Technologies, 5 (7 (77)), 54–63. doi: https://doi.org/10.15587/1729-4061.2015.51105
  20. Kolyubin, S. A. (2017). Dinamika robototehnicheskih sistem. Sankt-Peterburg: Universitet ITMO, 117.
  21. Maxfield, B. (2009). Essential Mathcad for Engineering, Science, and Math. Academic Press, 528. doi: https://doi.org/10.1016/b978-0-12-374783-9.x0001-x
  22. Yurevich, E. I. (2017). Osnovy robototehniki. Sankt-Peterburg: BHV-Peterburg, 304.

Downloads

Published

2021-02-24

How to Cite

Ashhepkova, N. (2021). Devising a method to analyze the current state of the manipulator workspace . Eastern-European Journal of Enterprise Technologies, 1(7 (109), 63–74. https://doi.org/10.15587/1729-4061.2021.225121

Issue

Vol. 1 No. 7 (109) (2021): Applied mechanics

Section

Applied mechanics

License

Copyright (c) 2021 Наталья Сергеевна Ащепкова

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

The consolidation and conditions for the transfer of copyright (identification of authorship) is carried out in the License Agreement. In particular, the authors reserve the right to the authorship of their manuscript and transfer the first publication of this work to the journal under the terms of the Creative Commons CC BY license. At the same time, they have the right to conclude on their own additional agreements concerning the non-exclusive distribution of the work in the form in which it was published by this journal, but provided that the link to the first publication of the article in this journal is preserved.

A license agreement is a document in which the author warrants that he/she owns all copyright for the work (manuscript, article, etc.).
The authors, signing the License Agreement with TECHNOLOGY CENTER PC, have all rights to the further use of their work, provided that they link to our edition in which the work was published.
According to the terms of the License Agreement, the Publisher TECHNOLOGY CENTER PC does not take away your copyrights and receives permission from the authors to use and dissemination of the publication through the world's scientific resources (own electronic resources, scientometric databases, repositories, libraries, etc.).
In the absence of a signed License Agreement or in the absence of this agreement of identifiers allowing to identify the identity of the author, the editors have no right to work with the manuscript.
It is important to remember that there is another type of agreement between authors and publishers – when copyright is transferred from the authors to the publisher. In this case, the authors lose ownership of their work and may not use it in any way.