| contributor author | Eric Lee | |
| contributor author | Jean Pierre Merlet | |
| contributor author | Constantinos Mavroidis | |
| date accessioned | 2017-05-09T00:13:50Z | |
| date available | 2017-05-09T00:13:50Z | |
| date copyright | September, 2004 | |
| date issued | 2004 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27792#842_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/130468 | |
| description abstract | In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved for the first time using an interval analysis method. In this problem, five spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these pre-specified locations. Denavit and Hartenberg parameters and 4×4 homogeneous matrices are used to formulate the problem and obtain the design equations and an interval method is used to search for design solutions within a predetermined domain. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Five Precision Point Synthesis of Spatial RRR Manipulators Using Interval Analysis | |
| type | Journal Paper | |
| journal volume | 126 | |
| journal issue | 5 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1767180 | |
| journal fristpage | 842 | |
| journal lastpage | 849 | |
| identifier eissn | 1528-9001 | |
| keywords | Design | |
| keywords | Accuracy | |
| keywords | Equations AND Manipulators | |
| tree | Journal of Mechanical Design:;2004:;volume( 126 ):;issue: 005 | |
| contenttype | Fulltext | |