Open document
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General information |
| Author |
Ceccarelli, Marco |
| Published |
Bucharest, 1989
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| Edition |
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| Extend |
9 pages
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| ISBN |
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| Abstract |
An algebraic development has been described for the evaluation of workspace characteristics of a general 3R robot arm.
An algebraic development has been described for the evaluation of workspace characteristics of a general 3R robot arm. The workspace boundary surface is represented by the envelope equations of the generating torus. The algebraic formulation is useful for direct investigation of the effect of link parameters on the cross section shape and on the dimensional characteristics of the workspace. Furthermore, suitable criteria are deduced to detect hole and void existence in the workspace. Two types of voids are identified as ring voids and apple voids and different detecting criteria are specified. These formulations, which are based on the geometry of a 3R robot arm, can facilitate calculations of workspace characteristics in analysis problems and in dimensional design. |
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