Determination of the Workspace of 6-DOF Parallel ManipulatorsSource: Journal of Mechanical Design:;1990:;volume( 112 ):;issue: 003::page 331Author:C. Gosselin
DOI: 10.1115/1.2912612Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an algorithm for the determination of the workspace of parallel manipulators. The method described here, which is based on geometrical properties of the workspace, leads to a simple graphical representation of the regions of the three-dimensional Cartesian space that are attainable by the manipulator with a given orientation of the platform. Moreover, the volume of the workspace can be easily computed by performing an integration in its boundary, which is obtained from the algorithm. Examples are included to illustrate the application of the method to a six-degree-of-freedom fully parallel manipulator.
keyword(s): Manipulators AND Algorithms ,
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| contributor author | C. Gosselin | |
| date accessioned | 2017-05-08T23:33:12Z | |
| date available | 2017-05-08T23:33:12Z | |
| date copyright | September, 1990 | |
| date issued | 1990 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27582#331_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/107239 | |
| description abstract | This paper presents an algorithm for the determination of the workspace of parallel manipulators. The method described here, which is based on geometrical properties of the workspace, leads to a simple graphical representation of the regions of the three-dimensional Cartesian space that are attainable by the manipulator with a given orientation of the platform. Moreover, the volume of the workspace can be easily computed by performing an integration in its boundary, which is obtained from the algorithm. Examples are included to illustrate the application of the method to a six-degree-of-freedom fully parallel manipulator. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Determination of the Workspace of 6-DOF Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 112 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2912612 | |
| journal fristpage | 331 | |
| journal lastpage | 336 | |
| identifier eissn | 1528-9001 | |
| keywords | Manipulators AND Algorithms | |
| tree | Journal of Mechanical Design:;1990:;volume( 112 ):;issue: 003 | |
| contenttype | Fulltext |