Workspace, singularity, and dexterity analyses of a six-degrees-of-freedom sdelta robot with an orthogonal base platform

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dc.contributor.authorToz, Metin
dc.contributor.authorHan, Hasiaoqier
dc.contributor.authorAngeles, Jorge
dc.date.accessioned2025-01-12T17:20:02Z
dc.date.available2025-01-12T17:20:02Z
dc.date.issued2024
dc.departmentKMÜ, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümü
dc.description.abstractThe SDelta is a three-limb, six-degrees-of-freedom parallel kinematics machine, a pertinent candidate for high-speed operations by virtue of its simple architecture. The original design of the SDelta includes a planar base and moving platforms. Here, we propose a novel architecture for an improved SDelta, the orthogonal SDelta (OSD), with a cube-shaped orthogonal base platform. Inverse and forward position models are reported, along with singularity and dexterity analyses. Moreover, design parameters and mechanical constraints leading to a singularity-free workspace are provided. An evaluation of the system translational workspace and orientational capability, upon consideration of volume and dexterity, is included. The SDelta as well as a generic 6SPS mechanism (C, P, and S denote, respectively, the cylindrical, prismatic, and spherical kinematic pairs, the actuated pair is represented underlined, as P) are designed with the same parameters, then the performance of the SDelta, the OSD, and the 6SPS mechanisms are being compared. The results show that the orientational capability of the OSD is better than those of the 6SPS and the SDelta. Furthermore, the OSD has an average condition number of 2.9 over its translational workspace and 1.69 over a predefined effective regular workspace, which make the OSD a good candidate for operations that need both a high orientational capability and high dexterity.
dc.description.sponsorshipScientific and Technological Research Council of Turkey (TUBITAK) [1059B192000579]; Robotic Mechanical Systems Laboratory of the Centre for Intelligent Machines (CIM); Department of Mechanical Engineering, McGill University; China Scholarship Council [201904910122]; Canada's Natural Sciences and Engineering Research Council (NSERC) [223213]
dc.description.sponsorshipThe first author acknowledges the support received from (1) The Scientific and Technological Research Council of Turkey (TUBITAK) via a grant through the 2219-International Postdoctoral Research Fellowship Program for Turkish Citizens (Grant No. 1059B192000579) and (2) The Robotic Mechanical Systems Laboratory of the Centre for Intelligent Machines (CIM) and the Department of Mechanical Engineering, McGill University, as a Visiting Professor. The second author acknowledges support from the China Scholarship Council (Scholarship No. 201904910122). The third author acknowledges the support received from Canada's Natural Sciences and Engineering Research Council (NSERC) through Research Grant 223213.
dc.identifier.citationToz, M., Han, H., & Angeles, J. (2024). Workspace, singularity, and dexterity analyses of a six-degrees-of-freedom sdelta robot with an orthogonal base platform. J. Mechanisms Robotics, 16(7). https://doi.org/10.1115/1.4063574
dc.identifier.doi10.1115/1.4063574
dc.identifier.issn1942-4302
dc.identifier.issn1942-4310
dc.identifier.issue7
dc.identifier.scopus2-s2.0-85179737874
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1115/1.4063574
dc.identifier.urihttps://hdl.handle.net/11492/10300
dc.identifier.volume16
dc.identifier.wosWOS:001349439100019
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Sceince
dc.indekslendigikaynakScopus
dc.institutionauthorToz, Metin
dc.institutionauthoridToz, Metin/0000-0001-9752-2718
dc.language.isoen
dc.publisherAsme
dc.relation.ispartofJournal of Mechanisms and Robotics-Transactions of The Asme
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectcylindrical actuators
dc.subjectsix-dof parallel robots
dc.subjectSDelta robot and orthogonal SDelta
dc.titleWorkspace, singularity, and dexterity analyses of a six-degrees-of-freedom sdelta robot with an orthogonal base platform
dc.typeArticle

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