A Methodology for Workspace Identification of Parallel Robots Using Parametric Sweep Search Method

In this paper, a methodology for real time identification of various singularities for various workspace types of parallel robots is proposed. Python 3D simulation software has been developed to position the moving platform of the robot’s CAD model through pre-defined rules in order to solve specific problems including singularity identification, obstacle avoidance, and path planning. The system is designed to identify the moving platform’s best possible pose. Boolean logic is used to identify valid path trajectory through parametric sweep search method. Joint constraints are checked to validate the platforms’ positions using the actuators’ stroke length, their angles, and any possible collisions. Solutions for any desired pose, based on line collision and mesh model algorithms, are then found. The path, position and workspace data are verified against a kinematic model of the robot, developed in Solid works and Matlab software tools. The simulation system has been successfully tested using various n-dimensional interpolations based on the given case study.