A study on workspace topologies of 3R industrial-type manipulators

被引：0
|
作者：
Ottaviano, Erika [1 ]
Husty, Manfred [2 ,3 ]
Ceccarelli, Marco [1 ]
机构：
[1] Univ Cassino, LARM, Via Biasio 43, I-03043 Cassino, Italy
[2] Univ Innsbruck, Inst Basic Sci & Engn, Unit Geometry, A-6020 Innsbruck, Austria
[3] Univ Innsbruck, CAD, A-6020 Innsbruck, Austria
来源：
2006 IEEE-TTTC INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS, VOL 2, PROCEEDINGS | 2006年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a workspace analysis of 3R industrial-type manipulators, which have a geometrical simplification of the general kinematic parameters. In particular, we have focused attention on industrial-type manipulators, which can be grouped usually as orthogonal and ortho-parallel manipulators. The classification regards with relative orientation of three directions of revolute joints' axes. A formulation is presented based on a level-set reconstruction of the workspace. The proposed analysis allows for determining different topologies of industrial manipulators based on kinematic properties. Numerical examples are shown.
引用
收藏
页码：237 / 242
页数：6
相关论文
共 50 条
  • [1] Workspace Topologies of Industrial 3R Manipulators
    Ottaviano, Erika
    Ceccarelli, Marco
    Husty, Manfred
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2008, 5 (02) : 215 - 222
  • [2] An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
    Zein, Mazen
    Wenger, Philippe
    Chablat, Damien
    [J]. MECHANISM AND MACHINE THEORY, 2006, 41 (08) : 971 - 986
  • [3] A Geometrical Characterization of Workspace Singularities in 3R Manipulators
    Husty, M.
    Ottaviano, E.
    Ceccarelli, M.
    [J]. ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND DESIGN, 2008, : 411 - +
  • [4] A Cartesian representation for the boundary workspace of 3R manipulators
    Ottaviano, E
    Husty, M
    Ceccarelli, M
    [J]. ON ADVANCES IN ROBOT KINEMATICS, 2004, : 247 - 254
  • [5] A classification of 3R orthogonal manipulators by the topology of their workspace
    Baili, M
    Wenger, P
    Chablat, D
    [J]. 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 1933 - 1938
  • [6] Design and optimization of 3R manipulators using the workspace features
    Bergamaschi, PR
    Nogueira, AC
    Saramago, SDP
    [J]. APPLIED MATHEMATICS AND COMPUTATION, 2006, 172 (01) : 439 - 463
  • [7] A multi-objective optimum design of general 3R manipulators for prescribed workspace limits
    Ceccarelli, M
    Lanni, C
    [J]. MECHANISM AND MACHINE THEORY, 2004, 39 (02) : 119 - 132
  • [8] Classification of 3R positioning manipulators
    Wenger, P.
    [J]. Journal of Mechanical Design, Transactions of the ASME, 1998, 120 (02): : 327 - 332
  • [9] Classification of 3R positioning manipulators
    Wenger, P
    [J]. JOURNAL OF MECHANICAL DESIGN, 1998, 120 (02) : 327 - 332
  • [10] Workspace analysis of space 3R robot
    Institute of Space Intelligent System, Harbin Institute of Technology, Harbin 150001, China
    不详
    [J]. Yuhang Xuebao, 2007, 5 (1389-1394): : 1389 - 1394
12345