Identification of the Workspace Boundary Of a General 3-R Manipulator-Reference-Cited by-同舟云学术

Identification of the Workspace Boundary Of a General 3-R Manipulator

Published:2005-09-05 Issue:1 Volume:128 Page:236-242
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Ottaviano Erika¹,Husty Manfred²,Ceccarelli Marco¹

Affiliation:

1. LARM Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Via Di Biasio 43-03043 Cassino (Fr), Italy

2. Institute for Engineering Mathematics Geometry and Computer Science, University of Innsbruck, Technikerstr. 13 A-6020 Innsbruck, Austria

Abstract

In this paper an algebraic formulation is presented for the boundary workspace of 3-R manipulators in Cartesian Space. It is shown that the cross-section boundary curve can be described by a 16th order polynomial as function of radial and axial reaches. The cross-section boundary curve and workspace boundary surface are fully cyclic. Geometric singularities of the curve are identified and characterized. Numerical examples are presented to show the usefulness of the proposed investigation and to classify the design characteristics.

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/128/1/236/5584437/236_1.pdf

Reference32 articles.

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3. Roth, B. , 1975, “Performance Evaluation of Manipulators From a Kinematic Viewpoint,” National Bureau of Standards Special Publication, No. 459, pp. 39–61.

4. The Workspace of a Mechanical Manipulator;Kumar;ASME J. Mech. Des.

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