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On the Workspace of 3R Robot Arms

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Autore Ceccarelli, Marco
Pubblicato  Bucharest, 1989
edizione  
Volume  9 pages
ISBN
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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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
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Time of publication 1989

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