Characterization of Workspaces of Parallel ManipulatorsSource: Journal of Mechanical Design:;1992:;volume( 114 ):;issue: 003::page 368Author:V. Kumar
DOI: 10.1115/1.2926562Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The workspaces and kinematic characterization of serial chain manipulator geometries and the geometric optimization have been studied extensively. Much less is known about workspaces for manipulation systems which possess several serial chains arranged in parallel. In this paper, two well known workspaces, the reachable workspace and the dexterous workspace, are investigated for parallel manipulators. A general method for obtaining these workspaces is presented. The existence of numerous special configurations in the workspace present problems in manipulator control. Therefore the controllably dexterous workspace is proposed as a useful measure of kinematic performance. The methodology of delineating the workspaces and its limitations are illustrated with examples.
keyword(s): Manipulators ,
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| contributor author | V. Kumar | |
| date accessioned | 2017-05-08T23:39:04Z | |
| date available | 2017-05-08T23:39:04Z | |
| date copyright | September, 1992 | |
| date issued | 1992 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27599#368_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/110599 | |
| description abstract | The workspaces and kinematic characterization of serial chain manipulator geometries and the geometric optimization have been studied extensively. Much less is known about workspaces for manipulation systems which possess several serial chains arranged in parallel. In this paper, two well known workspaces, the reachable workspace and the dexterous workspace, are investigated for parallel manipulators. A general method for obtaining these workspaces is presented. The existence of numerous special configurations in the workspace present problems in manipulator control. Therefore the controllably dexterous workspace is proposed as a useful measure of kinematic performance. The methodology of delineating the workspaces and its limitations are illustrated with examples. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Characterization of Workspaces of Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 114 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2926562 | |
| journal fristpage | 368 | |
| journal lastpage | 375 | |
| identifier eissn | 1528-9001 | |
| keywords | Manipulators | |
| tree | Journal of Mechanical Design:;1992:;volume( 114 ):;issue: 003 | |
| contenttype | Fulltext |