Determination of necessary geometric parameters of tripod robot workspace, taking into account zones of singularity

Abstract

The article considers the problem of providing the necessary geometric parameters of the workspace of a flat robot with 3 degrees of freedom. The influence of the geometric parameters of the robot mechanism configuration (drive mechanisms rod lengths and working platform parameters) as well as the working platform angle of rotation on the dimensions of the workspace was investigated. Special provisions (singularity zones) of the mechanism should be excluded from the robot workspace. The mechanism under investigation has singularities of the second type. Increasing angle φ that decreases the size of the workspace, but increases radius θ of the circle, on which the points of singularity are located, is shown. Thus, it is necessary to limit the swing angle range and expand the variation range of the lengths of the rods’ change to ensure the necessary size of the workspace mechanism. For the given dimensions of the workspace (based on the requirements of the technological process), the task of determining the geometric parameters of the robot mechanism configuration is solved. Mathematical modeling is performed. The results of computational experiments are presented.