Papers by Author: Khaled Assad Arrouk

Abstract: This paper presents a set of techniques based on the use of CAD geometric approaches for singularity surfaces and total operational workspace and joint space determination. The main emphasis is given to the use of CAD tools used to characterize and analyze the performance of planar parallel robot manipulators. The CAD environment provides powerful tools for the graphical programming and geometric feature handling. This paper points out the effectiveness of such a method in the robot design process. These developments are illustrated by the 3-RPR planar parallel manipulator case study. All of the proposed geometric algorithms are implemented in the CATIA CAD environment.

Abstract: In this paper a new method for determination and optimization of the workspace of parallel manipulators is presented. The proposed method is based on a geometrical approach, and offers the possibility to generate automatically the workspace in a CAD environment. Thus, the relationship between the geometrical design parameters of the parallel manipulator and its workspace can be analyzed without difficulty. Optimization problem considered in this paper consists in determining the dimensions of a parallel manipulator having the closest workspace to a prescribed task region. Finally, numerical applications of two types of planar parallel manipulators are presented in order to illustrate the proposed approach.