Open document
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General information |
| Author |
Ceccarelli, Marco |
| Published |
Tokyo, 1993
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| Edition |
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| Extend |
6 pages
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| ISBN |
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| Abstract |
The proposed procedure is an attempt to generalize a previously developed formulation for 3R and 4R general manipulator workspace boundary.
The geometrical envelope concept is used in ring generation to deduce a
boundary formulation for the workspace hyper-ring of a general 5R manipulator open chain. The proposed procedure is an attempt to generalize a previously developed formulation for 3R and 4R general manipulator workspace boundary. The 5R hyper-ring boundary is obtained, in this paper, from the envelope of the torus family traced by all the boundary parallel circles of a generating 4R
manipulator hyper-ring. An analytical algorithm is obtained as a function of the geometrical parameters and the last revolute joint angle of the chain. Particularly, the cross-section contour can be obtained by scanning suitable intervals of the last rervolute joint angle, only, through algebraic expressions of the boundary envelope formulation. |
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