| contributor author | F. Freudenstein | |
| contributor author | E. J. F. Primrose | |
| date accessioned | 2017-05-08T23:18:28Z | |
| date available | 2017-05-08T23:18:28Z | |
| date copyright | September, 1984 | |
| date issued | 1984 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28043#365_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/98778 | |
| description abstract | The workspace of a three-axis, turning-pair connected robot arm of general proportions has been analyzed in terms of the volume swept out by the surface of a skew torus rotating about an offset axis in space. The algebraic geometry of this configuration has been utilized in the determination of workspace characteristics. Algebraic criteria have been derived for extreme axial and radial reach and the elimination of two types of voids which were found to be characteristic of the 3-R robot configuration. These criteria can be used both in the analysis and synthesis stages of robot design. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | On the Analysis and Synthesis of the Workspace of a Three-Link, Turning-Pair Connected Robot Arm | |
| type | Journal Paper | |
| journal volume | 106 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3267420 | |
| journal fristpage | 365 | |
| journal lastpage | 370 | |
| identifier eissn | 1528-9001 | |
| keywords | Robots | |
| keywords | Turning | |
| keywords | Design AND Geometry | |
| tree | Journal of Mechanical Design:;1984:;volume( 106 ):;issue: 003 | |
| contenttype | Fulltext | |
