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Research and Development of Methods for Determining the Key Characteristics of Parallel Robots

Student: Andrey Gorbatov

Supervisor: Mikhail Posypkin

Faculty: HSE Tikhonov Moscow Institute of Electronics and Mathematics (MIEM HSE)

Educational Programme: Supercomputer Modeling in Science and Engineering (Master)

Final Grade: 7

Year of Graduation: 2020

In this work methods of singularity configuration analysis in planar parallel robots are studied. The main goal of this work is to research and implement algorithms for automatic visualization of singular configurations of planar parallel robots and connected component determination of planar parallel robots’ workspace. These algorithms are implemented using Python 3.6 programming language with connected scipy and sympy libraries. Numerical experiment has been held in order to demonstrate that the implementation of the algorithms worked as intended. Planar parallel RRRRR DexTAR robot has been chosen for the simulation. Singularity lines and workspace connected components were computed for the selected robot. It was shown that the results of the simulation coincide with the previously yielded results. I expect that the results of the work could be used with a little modification to analyze other planar parallel robots with different design.

Full text (added May 19, 2020)

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