The Methodology for Calculating and Analyzing the Parameters of the Tripod Robot to Ensure Controllability in the Workspace

XVII International Conference on Systems, Automatic Control and Measurements, SAUM 2024 (pp. 22-26)

АУТОР(И) / AUTHOR(S): Khalapyan Sergey , Rybak Larisa , Cherkasov Vladislav , Voloshkin Artem ,

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DOI:  10.46793/SAUM24.022K

САЖЕТАК / ABSTRACT:

The paper discusses the methodology for calculating and presenting to the developer and end user of robotic systems the technical characteristics of a tripod robot (its working area, taking into account the need to ensure controllability), depending on the geometric dimensions of the structural elements of the mechanism. The developer will have the opportunity to choose the best configuration of the robot, which allows solving the tasks; the user will be able to explore the functionality of the mechanism used, to ensure safe control of the robot.

КЉУЧНЕ РЕЧИ / KEYWORDS:

tripod, 3-RPS mechanism, parallel robot, the singularity of the mechanism, safe management

ПРОЈЕКАТ/ ACKNOWLEDGEMENT:

This work was realized in the framework of the Program „Priority 2030“ on the base of the Belgorod State Technological University named after V G Shukhov. The work was realized using equipment of High Technology Center at BSTU named after V. G. Shukhov.

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