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- W3036940415 abstract "In the past decade, parallel manipulators began gaining more and more attention, since they provenly outperform their serial counterparts by several means. The popularity of regular delta robots is especially increasing in high-speed pick and place applications often combined with visual inspection and conveyors. Regular triangle delta robots are well known, and many simulation tools are available in the form of open-source libraries or professional software. Nevertheless, for the recently emerging Generalized Triangle Parallel Robots (GTPR), we lack tools for investigating the geometric and kinematic characteristics. In this paper, we introduce our open-source software tool written in MATLAB for the analysis of the GTPR workspace envelope. The software uses a voxel representation of arbitrary resolution to characterize the robot’s workspace classifying each voxel by the occupation of the represented physical volume. This way, the workspace regions can be investigated from various aspects flexibly regarding the volumetric footprint of the end-effector or any robot parts. Accordingly, the useful workspace and the so-called dead workspace can be evaluated against the specific requirements of a given application." @default.
- W3036940415 created "2020-06-25" @default.
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- W3036940415 creator A5068637872 @default.
- W3036940415 date "2020-05-01" @default.
- W3036940415 modified "2023-10-18" @default.
- W3036940415 title "A Workspace Mapping Software Tool for Generalized Triangle Parallel Robots" @default.
- W3036940415 cites W2077129956 @default.
- W3036940415 doi "https://doi.org/10.1109/saci49304.2020.9118785" @default.
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