A DH-Parameter Based Condition for 3R Orthogonal Manipulators to Have Four Distinct Inverse Kinematic Solutions-Reference-Cited by-同舟云学术

A DH-Parameter Based Condition for 3R Orthogonal Manipulators to Have Four Distinct Inverse Kinematic Solutions

Published:2005-01-01 Issue:1 Volume:127 Page:150-155
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Wenger P.¹,Chablat D.¹,Baili M.¹

Affiliation:

1. Institut de Recherche en Communications et Cyberne´tique de Nantes, UMR CNRS 6597, 1, rue de la Noe¨, BP 92101, 44312 Nantes Cedex 03, France

Abstract

Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes to have four distinct IKS. We show that the transition between manipulators with two and four IKS is defined by the set of manipulators with a quadruple root of their inverse kinematics. The resulting condition is explicit and states that the last link length of the manipulator must be greater than a quantity that depends on three of its remaining DH parameters. This result is of interest for the design of new manipulators.

Publisher

ASME International

Subject

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

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/127/1/150/5684794/150_1.pdf

Reference14 articles.

1. Pieper, B., 1968, “The Kinematics of Manipulators Under Computer Control,” Ph.D. thesis, Stanford University.

2. Gupta, K. C., and Roth, B., 1982, “Design Considerations for Manipulator Workspaces,” ASME J. Mech. Des., 104, pp. 704–711.

3. Kholi, D., and Spano, J., 1985, “Workspace Analysis of Mechanical Manipulators using Polynomial Discriminant,” ASME J. Mech., Transm., Autom. Des., 107, pp. 209–215.

4. Kumar, A., and Waldro, K. J., 1981, “The Workspace of a Mechanical Manipulator,” ASME J. Mech. Des., 103, pp. 665–672.

5. Yang, D. C. H., and Lee, T. W., 1983, “On the Workspace of Mechanical Manipulators,” ASME J. Mech. Des., 105, pp. 62–69.

Cited by 13 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. Forward Kinematic Analysis of a Pick-and-Place Robot for Industrial Applications;2023 International Conference on Engineering and Emerging Technologies (ICEET);2023-10-27

2. Trajectory planning issues in cuspidal commercial robots;2023 IEEE International Conference on Robotics and Automation (ICRA);2023-05-29

3. Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal;Mechanism and Machine Theory;2022-05

4. Geometry Based Analysis of 3R Serial Robots;Advances in Robot Kinematics 2022;2022

5. Classification of All Non-Isomorphic Regular and Cuspidal Arm Anatomies in an Orthogonal Metamorphic Manipulator;Robotics;2020-04-02