Date of Award

2012

Degree Type

Thesis

Degree Name

M.A.Sc.

Department

Industrial and Manufacturing Systems Engineering

First Advisor

Jill Urbanic

Keywords

Applied sciences, Forward kinematics, Functional workspace, Open kinematic chains, Robotic/machine placement, Robotic workspace, Serial manipulators

Rights

CC BY-NC-ND 4.0

Abstract

The work envelope of a robot does not capture the effect of tool orientation. Applications will require the tool to be at a certain orientation to perform the tasks necessary. It is therefore important to introduce a parameter that can capture the effect of orientation for multiple robots and configurations. This is called the functional work space, which is a subset of the work envelope would capture the effect of orientation. This research discusses the development of establishing an assessment tool that can predict the functional work space of a robot for a certain tool-orientation pair thus aiding in proper tool, tool path, fixture, related configuration selection and placement. Several solutions are studied and an analytical and a geometric solution is presented after a detailed study of joint dependencies, joint movements, limits, link lengths and displacements through visual, empirical and analytical approaches. The functional workspace curve for a manipulator with similar kinematic structure can be created using the geometrical solution discussed in this research. It is difficult to derive a general paradigm since different parameters such as, joint limits, angles and twist angles seem to have a different effect on the shape of the workspace. The geometrical solution employed is simple, easy to deduce and can be simulated with a commercial software package. Design decisions pertaining to configuration and reconfiguration of manipulators will benefit by employing the solution as a design/analysis tool. A case study involving an X-ray diffraction technique goniometer is presented to highlight the merits of this work.

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