Uniqueness Domains in the Workspace of Parallel Manipulators
نویسندگان
چکیده
منابع مشابه
Uniqueness Domains in the Workspace of Parallel Manipulators
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...
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Parallel manipulators are an interesting alternative to serial robots given the important mechanical and kinematic advantages offered. Nevertheless, they often present more complex and smaller workspaces with internal singularities (Altuzarra et al., 2004; Gosselin & Angeles, 1990). Thus, the workspace size, shape and quality are considered some of the main design criteria of these robots (Merl...
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We present a fast algorithm for solving the problem of the verification of a trajectory for a 6-DOF parallel manipulator with respect to its workspace: i.e., given two different postures for the end-effector, is the straight line joining these two postures in the parameters space fully inside the workspace ? This algorithm is based on the analysis of the algebraic inequalities describing the co...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 1997
ISSN: 1474-6670
DOI: 10.1016/s1474-6670(17)44297-2