Design Considerations for Manipulator Workspace-Reference-Cited by-同舟云学术

Design Considerations for Manipulator Workspace

Published:1982-10-01 Issue:4 Volume:104 Page:704-711
ISSN:0161-8458
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Gupta K. C.¹,Roth B.²

Affiliation:

1. Department of Materials Engineering, University of Illinois at Chicago Circle, Chicago, Ill. 60680

2. Department of Mechanical Engineering, Stanford University, Stanford, Calif. 94305

Abstract

This paper introduces some basic concepts regarding the workspaces of manipulators. The first part gives a general discussion regarding workspace shapes. Most of the rest of the paper focuses on manipulators with three orthogonal mutually intersecting axes. The structures of the primary and secondary workspaces for such systems are determined and the effects of hand size are examined in detail. Several specific examples are presented to illustrate the basic theory.

Publisher

ASME International

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/104/4/704/5566624/704_1.pdf

Cited by 152 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. Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis;IEEE Robotics and Automation Letters;2024-02

2. ReachNet : Reachability maps in the presence of obstacles;2023 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM);2023-06-09

3. QUANTIFYING ROBOTIC ASSEMBLY CAPABILITY A REVIEW AND A PROSPECTUS;Proceeding of Flexible Automation and Integrated Manufacturing 1999;2023

4. Kinematic design of linkage-based haptic interfaces for medical applications: a review;Progress in Biomedical Engineering;2021-04-01

5. Adaptive Motion Cueing Algorithm Based on Fuzzy Logic Using Online Dexterity and Direction Monitoring;IEEE Systems Journal;2021