Determining the workspace boundary of 6-DOF parallel manipulators

被引：13
|
作者：
Tsai, K. Y.
Lee, T. K.
Huang, K. D.
机构：
[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei 10672, Taiwan
[2] No Taiwan Inst Sci & Technol, Dept Mech Engn, Taipei, Taiwan
来源：
ROBOTICA | 2006年 / 24卷
关键词：
reachable workspace; 6-DOF parallel manipulator; link interaction;
D O I：
10.1017/S0263574706002682
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The workspace boundary of 6-DOF parallel manipulators is a two-dimensional surface consisting of many patches that can be obtained by solving different sets of four constraint equations. This paper proposes algorithms for finding the equations to generate each patch of the boundary. Methods involving a searching technique are first developed to generate some small subsets of the boundary. The obtained data are then used to predict the equations for generating the rest of the boundary.
引用
收藏
页码：605 / 611
页数：7
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