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

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