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On the Workspace of 3R Robot Arms
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Allgemeine Angaben
Autor Ceccarelli, Marco
Erschienen  Bucharest, 1989
Ausgabe  
Umfang  9 pages
ISBN
Kurzbeschreibung 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.
Sammlungen
Zeitschriftenartikel
1950-1999
Permanentlinks
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=23663009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_23663009.html
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Verwaltungsinformationen
Publikationsdatum 1989

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