Workspace Analysis of 4R Manipulators With Various Degrees of DexteritySource: Journal of Mechanical Design:;1988:;volume( 110 ):;issue: 001::page 42Author:J. Rastegar
DOI: 10.1115/1.3258903Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: For 4R manipulators and their various possible configurations, workspaces with full, partial, and zero dexterity are defined, and a procedure to determine them is developed. As examples, two 4R manipulators are analyzed. Subspaces with 2, 4, 6, and 8 configurations and various degrees of dexterity are found. Several points on the effect of geometrical parameters on the shape and extent of the boundary surfaces, subspaces, and number of configurations are discussed. An index for the evaluation of the degree of accessibility of the workspace of a manipulator is also proposed.
keyword(s): Manipulators AND Shapes ,
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| contributor author | J. Rastegar | |
| date accessioned | 2017-05-08T23:27:49Z | |
| date available | 2017-05-08T23:27:49Z | |
| date copyright | March, 1988 | |
| date issued | 1988 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28085#42_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/104236 | |
| description abstract | For 4R manipulators and their various possible configurations, workspaces with full, partial, and zero dexterity are defined, and a procedure to determine them is developed. As examples, two 4R manipulators are analyzed. Subspaces with 2, 4, 6, and 8 configurations and various degrees of dexterity are found. Several points on the effect of geometrical parameters on the shape and extent of the boundary surfaces, subspaces, and number of configurations are discussed. An index for the evaluation of the degree of accessibility of the workspace of a manipulator is also proposed. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Workspace Analysis of 4R Manipulators With Various Degrees of Dexterity | |
| type | Journal Paper | |
| journal volume | 110 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3258903 | |
| journal fristpage | 42 | |
| journal lastpage | 47 | |
| identifier eissn | 1528-9001 | |
| keywords | Manipulators AND Shapes | |
| tree | Journal of Mechanical Design:;1988:;volume( 110 ):;issue: 001 | |
| contenttype | Fulltext |