3-D Visualization on Workspace of Parallel Manipulators
In parallel mechanisms, the form and volume of workspace also change variously with the attitude of a platform. This paper presents a method to search for the workspace of parallel mechanisms with 6-DOF and 3D visualization of the workspace. Workspace is a search for the movable range of the central...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2009-03-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/3/1/3_1_58/_pdf/-char/en |
| _version_ | 1818532639425953792 |
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| author | Yoshito TANAKA Isao YOKOMICHI Junko ISHII Toshiaki MAKINO |
| author_facet | Yoshito TANAKA Isao YOKOMICHI Junko ISHII Toshiaki MAKINO |
| author_sort | Yoshito TANAKA |
| collection | DOAJ |
| description | In parallel mechanisms, the form and volume of workspace also change variously with the attitude of a platform. This paper presents a method to search for the workspace of parallel mechanisms with 6-DOF and 3D visualization of the workspace. Workspace is a search for the movable range of the central point of a platform when it moves with a given orientation. In order to search workspace, geometric analysis based on inverse kinematics is considered. Plots of 2D of calculations are compared with those measured by position sensors. The test results are shown to have good agreement with simulation results. The workspace variations are demonstrated in terms of 3D and 2D plots for prototype mechanisms. The workspace plots are created with OpenGL and Visual C++ by implementation of the algorithm. An application module is developed, which displays workspace of the mechanism in 3D images. The effectiveness and practicability of 3D visualization on workspace are successfully demonstrated by 6-DOF parallel mechanisms. |
| first_indexed | 2024-12-11T17:48:10Z |
| format | Article |
| id | doaj.art-4b311ce47a5544b89172ba6fe4f4db55 |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-12-11T17:48:10Z |
| publishDate | 2009-03-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-4b311ce47a5544b89172ba6fe4f4db552022-12-22T00:56:19ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542009-03-0131586810.1299/jamdsm.3.58jamdsm3-D Visualization on Workspace of Parallel ManipulatorsYoshito TANAKA0Isao YOKOMICHI1Junko ISHII2Toshiaki MAKINO3Department of Control and Information Systems Engineering, Kitakyusyu National College of TechnologyDepartment of Control and Information Systems Engineering, Kitakyusyu National College of TechnologyDepartment of Control and Information Systems Engineering, Kitakyusyu National College of TechnologyDepartment of Electronics and Control Engineering, Sasebo National College of TechnologyIn parallel mechanisms, the form and volume of workspace also change variously with the attitude of a platform. This paper presents a method to search for the workspace of parallel mechanisms with 6-DOF and 3D visualization of the workspace. Workspace is a search for the movable range of the central point of a platform when it moves with a given orientation. In order to search workspace, geometric analysis based on inverse kinematics is considered. Plots of 2D of calculations are compared with those measured by position sensors. The test results are shown to have good agreement with simulation results. The workspace variations are demonstrated in terms of 3D and 2D plots for prototype mechanisms. The workspace plots are created with OpenGL and Visual C++ by implementation of the algorithm. An application module is developed, which displays workspace of the mechanism in 3D images. The effectiveness and practicability of 3D visualization on workspace are successfully demonstrated by 6-DOF parallel mechanisms.https://www.jstage.jst.go.jp/article/jamdsm/3/1/3_1_58/_pdf/-char/enworkspaceparallel mechanisms3d-visualizationopenglinverse-kinematicsapplication module |
| spellingShingle | Yoshito TANAKA Isao YOKOMICHI Junko ISHII Toshiaki MAKINO 3-D Visualization on Workspace of Parallel Manipulators Journal of Advanced Mechanical Design, Systems, and Manufacturing workspace parallel mechanisms 3d-visualization opengl inverse-kinematics application module |
| title | 3-D Visualization on Workspace of Parallel Manipulators |
| title_full | 3-D Visualization on Workspace of Parallel Manipulators |
| title_fullStr | 3-D Visualization on Workspace of Parallel Manipulators |
| title_full_unstemmed | 3-D Visualization on Workspace of Parallel Manipulators |
| title_short | 3-D Visualization on Workspace of Parallel Manipulators |
| title_sort | 3 d visualization on workspace of parallel manipulators |
| topic | workspace parallel mechanisms 3d-visualization opengl inverse-kinematics application module |
| url | https://www.jstage.jst.go.jp/article/jamdsm/3/1/3_1_58/_pdf/-char/en |
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