A geometrical method for computing the constant-orientation workspace of 6-(P)under-barRRS parallel manipulators

被引：97

作者：

Bonev, IA ^{[1
]}

Ryu, J ^{[1
]}

机构：

[1] Kwangju Inst Sci & Technol, Dept Mechatron, Kwangju 500712, South Korea

来源：

MECHANISM AND MACHINE THEORY | 2001年 / 36卷 / 01期

关键词：

Algorithms - Computational geometry - Computer aided design - Computer aided manufacturing - Mobile robots;

D O I：

10.1016/S0094-114X(00)00031-8

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a geometrical method for the workspace analysis of 6-(P) under bar RRS parallel manipulators. A geometric algorithm is described for the computation of the constant-orientation workspace, which was implemented in the CAD/CAM system CATIA. The influence of the different design parameters on the workspace, as well as on other properties of the manipulator, is discussed. In addition, a new representation of the mobile platform orientation is presented for easier interpretation of the orientation. Finally, examples are provided to demonstrate the usefulness of the method. (C) 2000 Elsevier Science Ltd. All rights reserved.

引用

页码：1 / 13

页数：13

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