Architecture Independent Workspace Analysis of Planar Three-Legged Manipulators

作者: Clément M Gosselin , Imme Ebert-Uphoff

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摘要: A method for determining the reachable workspace of general planar three degree of freedom platforms with three legs of arbitrary architecture is presented, where only the active joints are in the presence of limits. A brief review of kinematic mapping is given. The kinematic image of the workspace consists of solid regions bounded by the intersection of minimum and maximum joint input constraint surfaces, a pair for each platform leg. The condition that the leg joining the moving platform to the fixed base be connected with three independent one degree of freedom lower pair joints is employed. Because the procedure uses position-level constraint surfaces in a kinematic image space, it additionally allows for the analysis of some platforms containing holonomic higher pairs.

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