Journal
JOURNAL OF MECHANICAL DESIGN
Volume 128, Issue 1, Pages 236-242Publisher
ASME
DOI: 10.1115/1.2120807
Keywords
kinematics; serial manipulators; workspace; geometric singularities; void
Categories
Ask authors/readers for more resources
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.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available