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An NC Code Based Machining Movement Simulation Method for a Parallel Robotic Machine Read chapter Read first chapter

2017 | OriginalPaper | Chapter

A Methodology to Determine the High Performance Area of 6R Industrial Robot

Authors : Nianfeng Wang, Zhifei Zhang, Xianmin Zhang

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

To find an area where the robot can obtain a higher kinematic performance is a meaningful work for path planning and off-line programming. In this paper, a methodology was proposed to determine the high performance area (HPA) of a 6R industrial robot. Monte Carlo method was used to get a point cloud of the reference point of the end effector. The manipulability measure was selected as a performance index to filter the point cloud. A grid was defined to approach the filtered point cloud and its boundary was then extracted and smoothed. An example was presented to show that the proposed methodology is feasible to determine the HPA of a 6R industrial robot.

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Metadata
Title
A Methodology to Determine the High Performance Area of 6R Industrial Robot
Authors
Nianfeng Wang
Zhifei Zhang
Xianmin Zhang
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65291-7

Electronic ISBN: 978-3-319-65292-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65292-4_48

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