A fairly general algorithm to evaluate workspace characteristics of serial and parallel manipulators

被引：49
作者：
Castelli, Gianni [1 ]
Ottaviano, Erika [1 ]
Ceccarelli, Marco [1 ]
机构：
[1] Univ Cassino, DiMSAT, Lab Robot & Mechatron, I-03043 Cassino, FR, Italy
来源：
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES | 2008年 / 36卷 / 01期
关键词：
analysis; manipulators; robotics; workspace;
D O I：
10.1080/15397730701729478
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
In this paper a fairly general algorithm is proposed for the determination and evaluation of the workspace both for serial and for parallel manipulators. The procedure is based on a binary representation of the workspace and presents the possibility for a general evaluation of the shape and volume for robot workspace characteristics. Two examples are presented to show the practical feasibility of the proposed procedure and its practical results.
引用
收藏
页码：14 / 33
页数：20
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