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

页码：14 / 33

页数：20

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