National University of Singapore

SP Group Monthly Progress Report

3D and 5D Workspace Analysis a Hybrid Manipulator October – November 2008

Presenter: Vincensius Billy Saputra
12 November 2008
Advanced Manufacturing Laboratory
Department of Mechanical Engineering

2

The needs for workspace analysis

Optimum Design
Object Positioning
Trajectory Planning

3

Factors that shape the workspace

Min. and max. leg lengths
Passive Joints Constraints



Singular Configuration
Leg interference
Collision with the surroundings

4

Singularity Issue

5

Types of Workspace

Single Manipulator
3D workspace (constant orientation)
5D workspace
Hybrid Manipulator
3D workspace
5D workspace

6

An approach to Solve 5D workspace

7

Workspace with the new convention

8

5D workspace Volume Evaluation

9

Issues in hybrid workspace

Symmetric Shape
The height and the orientation of the second platform with respect to the first (to be optimized)
Other design parameters include:
Base Radius
Platform Radius

10

Conclusion

Workspace Analysis tools has been developed
Characteristics of 5D workspaces of the hybrid manipulator
Design parameters can be optimized to maximize the workspace volume
Workspace analysis is the foundation of the trajectory planning

11

To-Do List

Optimization algorithm
Workspace utilization in the boundary area
Work piece positioning
Shortest distance tool-path planning
In depth analysis of accuracy and stiffness
Add the collision constraints into the simulation
Finalize the new 6-UPS MSP
Finalize the new frame design

The End

Thank you for your attention