An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
作者： Mazen Zein , Philippe Wenger , Damien Chablat
DOI: 10.1016/J.MECHMACHTHEORY.2006.03.013
关键词: Mathematics 、 Denavit–Hartenberg parameters 、 Inverse 、 Workspace 、 Kinematics 、 Singularity 、 Inverse problem 、 Existence theorem 、 Topology 、 Network topology
摘要: Abstract This paper proposes a classification of three-revolute orthogonal manipulators that have at least one their DH parameters equal to zero. is based on the topology workspace. The workspace characterized in half cross-section by singular curves. defined number cusps and nodes appear these are classified into different types with similar kinematic properties. Each type evaluated according interesting properties such as, whether fully reachable four inverse solutions or not, existence voids, feasibility continuous trajectories It found several “well-connected” workspace, is, accessible any trajectory feasible. result interest for design alternative manipulator geometries.
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