Determination of parameters of 3-dof spatial orientation manipulators for a specified workspace
The objective of the paper is to present a method of designing geometrical parameters of 3-dof orientation mechanisms. The parameters are to be determined for a given workspace, which in this case is described as a set of angles of orientation. An algorithm is presented, based on the equations of co...
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| Veröffentlicht in: | Robotica 2003-03, Vol.21 (2), p.179-183 |
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| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
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| Online-Zugang: | Volltext |
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| Zusammenfassung: | The objective of the paper is to present a method of designing geometrical parameters of 3-dof orientation mechanisms. The parameters are to be determined for a given workspace, which in this case is described as a set of angles of
orientation. An algorithm is presented, based on the equations of constraints which makes it
possible to obtain the parameters of a manipulator. whose workspace involves the specified
taskspace. |
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| ISSN: | 0263-5747 1469-8668 |
| DOI: | 10.1017/S0263574702004447 |