Workspace Analysis of a 6-DOF Hybrid Robot with Two Parallel Modules. Julia Files
Description
This dataset contains Julia files that perform workspace analysis of a 6-DOF hybrid robot with two parallel modules, which was introduced in paper https://doi.org/10.1007/978-3-031-59888-3_28. The corresponding paper describing the robot design and applied algorithms is going to be published in the Robotica journal. Please check the list of works at https://orcid.org/0000-0002-3928-5440. The dataset includes the following files: 1. File "main.jl" is the main file that proceeds with the workspace analysis of the robot step by step. 2. File "init.jl" is used to define geometrical parameters of the robot links. 3. File "workspace.jl" includes functions that compute the robot workspace. 4. File "plots.jl" includes functions that visualize the results. 5. Optional files "Project.toml" and "Manifest.toml" contain information about the used packages.
Files
Steps to reproduce
The files have been prepared in Julia v1.10.3 using VS Code v1.98.1 with Julia extension v1.127.2. The files use the following packages: 1. Rotations (v1.7.1), CoordinateTransformations (v0.6.4), StaticArrays (v1.9.13), and EnhancedGJK (v0.4.2) for workspace computation. 2. GeometryBasics (v0.4.11), CairoMakie (v0.11.4), and GLMakie (v0.9.4) for visualization. GLMakie is optional, but it creates plots faster than CairoMakie. After installing thess packages, one can use VS Code and follow the "main.jl" file according to the comments therein.
Institutions
- Institut masinovedenia imeni A A Blagonravova Rossijskoj akademii nauk