کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
800305 | 903760 | 2006 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a half cross-section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The manipulators are classified into different types with similar kinematic properties. Each type is evaluated according to interesting kinematic properties such as, whether the workspace is fully reachable with four inverse kinematic solutions or not, the existence of voids, and the feasibility of continuous trajectories in the workspace. It is found that several orthogonal manipulators have a “well-connected” workspace, that is, their workspace is fully accessible with four inverse kinematic solutions and any continuous trajectory is feasible. This result is of interest for the design of alternative manipulator geometries.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 41, Issue 8, August 2006, Pages 971-986
Journal: Mechanism and Machine Theory - Volume 41, Issue 8, August 2006, Pages 971-986
نویسندگان
Mazen Zein, Philippe Wenger, Damien Chablat,