DETERMINATION OF THE WORKSPACE OF 6-DOF PARALLEL MANIPULATORS

被引：355

作者：

GOSSELIN, C

机构：

[1] INRIA (Projet Prisme), Centre de Sophia-Antipolis, Valbonne Cedex, 06565

[2] Universite Laval, Departement de Genie Mecanique, QC

来源：

JOURNAL OF MECHANICAL DESIGN | 1990年 / 112卷 / 03期

关键词：

D O I：

10.1115/1.2912612

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents an algorithm for the determination of the workspace of parallel manipulators. The method described here, which is based on geometrical properties of the workspace, leads to a simple graphical representation of the regions of the three-dimensional Cartesian space that are attainable by the manipulator with a given orientation of the platform. Moreover, the volume of the workspace can be easily computed by performing an integration in its boundary, which is obtained from the algorithm. Examples are included to illustrate the application of the method to a six-degree-of-freedom fully parallel manipulator. © 1990 by ASME.

引用

页码：331 / 336

页数：6

共 14 条

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