The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators

被引：89
|
作者：
Gao, F [1 ]
Liu, XJ
Chen, X
机构：
[1] Hebei Univ Technol, Robot Res Ctr, Tianjin 300130, Peoples R China
[2] Tsing Hua Univ, Dept Precis Instruments, Mfg Engn Inst, Beijing 100084, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2001年 / 36卷 / 02期
关键词：
parallel robots; workspace; manipulators; solution space;
D O I：
10.1016/S0094-114X(00)00046-X
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The workspace for robotic manipulators is a very important issue for optimum design of robots, especially for parallel manipulators. The relationship between the shapes of workspaces and the link lengths of manipulators is very close. In this paper (3-DOF planar parallel manipulators (3-DOF PPMs) are classified; various of shapes of the workspaces are presented; the relationships between the shapes of the workspaces and the link lengths of each of the classifications are presented. The results of this paper are useful for the designers not only to understand the distribution of characteristics of the workspaces for various link lengths of 3-DOF PPMs, but also to optimize the manipulators. (C) 2001 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：205 / 220
页数：16
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