A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary

Author:

Ceccarelli M.1

Affiliation:

1. Dipartimento di Ingegneria Industriale, Universita` di Cassino, Via Zamosch 43, 03043 Cassino (FR), Italy

Abstract

A new synthesis algorithm for general three-revolute open chain manipulators is proposed making use of an algebraic formulation for the workspace boundary. This algebraic form of a synthesis model is used to formulate design equations and to discuss the number and the type of the multiple solutions.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Reference13 articles.

1. Ceccarelli, M., 1989, “On the Workspace of 3R Robot Arms,” Proceedings of the Fifth International Symposium on Theory and Practice of Mechanisms, Bucharest, Vol. II-1, pp. 37–46.

2. Ceccarelli, M., and Vinciguerra, A., 1990, “A Design Method of Three Revolute Open Chain Manipulators,” Proceedings of the Seventh CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Hermes, Paris, pp. 318–325.

3. Ceccarelli M. , MataV., and ValeroF., 1994, “Optimal Synthesis of Three-Revolute Manipulators,” AIMETA International Journal Meccanica, Vol. 29, No. 1, pp. 95–103.

4. Freudenstein F. , and PrimroseE. J. F., 1984, “On the Analysis and Synthesis of the Workspace of a Three-Link, Turning-Pair Connected Robot Arm,” ASME JOURNAL OF MECHANISMS, TRANSMISSIONS, AND AUTOMATION IN DESIGN, Vol. 106, pp. 365–370.

5. Gosselin C. M. , and GuillotM., 1991, “The Synthesis of Manipulators with Prescribed Workspace,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 113, pp. 451–455.

Cited by 43 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Kinematic Performance Analysis of the 3-U(RPRGR)RU Parallel Robot;Mechanisms and Machine Science;2024

2. A new trisection method for solving Lipschitz bi-objective optimization problems;Mathematics and Computers in Simulation;2021-12

3. Kinematic Performance Analysis of a 3-R(RPRGR)RR Planar Parallel Robot;Proceedings of I4SDG Workshop 2021;2021-10-14

4. An approach for design optimization of 3R manipulator using Adaptive Cuckoo Search algorithm;Mechanics Based Design of Structures and Machines;2019-10-18

5. Optimal dimension of redundant manipulator using the workspace density function;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2015-05-04

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3