| contributor author | Y. C. Tsai | |
| contributor author | A. H. Soni | |
| date accessioned | 2017-05-08T23:16:12Z | |
| date available | 2017-05-08T23:16:12Z | |
| date copyright | March, 1983 | |
| date issued | 1983 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28031#52_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/97472 | |
| description abstract | An algorithm is developed to determine the workspace on an arbitrary plane for an n -R robot. The algorithm is based on a linear optimization technique and on small incremental displacements applied to coordinate transformation equations relating the kinematic parameters of the n -R robot. The algorithm provides flexibility to let the user treat the robot hand as a point, a line, or a rigid-body. The revolute pairs of the robot may execute full or partial rotation. The proposed method may be extended to incorporate in a robot the existence of prismatic pairs along with revolute pairs. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | An Algorithm for the Workspace of a General n-R Robot | |
| type | Journal Paper | |
| journal volume | 105 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3267347 | |
| journal fristpage | 52 | |
| journal lastpage | 57 | |
| identifier eissn | 1528-9001 | |
| keywords | Robots | |
| keywords | Algorithms | |
| keywords | End effectors | |
| keywords | Equations | |
| keywords | Linear programming | |
| keywords | Rotation AND Plasticity | |
| tree | Journal of Mechanical Design:;1983:;volume( 105 ):;issue: 001 | |
| contenttype | Fulltext | |