| contributor author | D. Oblak | |
| contributor author | D. Kohli | |
| date accessioned | 2017-05-08T23:27:40Z | |
| date available | 2017-05-08T23:27:40Z | |
| date copyright | December, 1988 | |
| date issued | 1988 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28094#389_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/104169 | |
| description abstract | The workspace of a regional structure of a manipulator is bounded by a Jacobian surface (where the Jacobian is singular) or a D -surface (where one or more of the joints achieve a limit position). The Jacobian surfaces and D -surfaces may also appear inside the workspace. In such a case, these surfaces are noncrossable for certain configurations and crossable for certain other configurations. In addition, there may be singular points which are crossable by all configurations of the manipulator. In this paper, a workspace analysis method has been developed for identification of these surfaces. Examples of RPP and 3R regional structures are presented for illustration. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Boundary Surfaces, Limit Surfaces, Crossable and Noncrossable Surfaces in Workspace of Mechanical Manipulators | |
| type | Journal Paper | |
| journal volume | 110 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3258935 | |
| journal fristpage | 389 | |
| journal lastpage | 396 | |
| identifier eissn | 1528-9001 | |
| keywords | Manipulators | |
| tree | Journal of Mechanical Design:;1988:;volume( 110 ):;issue: 004 | |
| contenttype | Fulltext | |