Determination of parameters of 3-dof spatial orientation manipulators for a specified workspace

被引：9
|
作者：
Kosinska, A
Galicki, M
Kedzior, K
机构：
[1] Warsaw Univ Technol, Inst Aeronaut & Appl Mech, PL-00665 Warsaw, Poland
[2] Tech Univ Zielona Gora, Dept Org Prod Syst, PL-54246 Zielona Gora, Poland
来源：
ROBOTICA | 2003年 / 21卷
关键词：
kinematics; parallel manipulators; workspace; designing;
D O I：
10.1017/S0263574702004447
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The objective of the paper is to present a method of designing geometrical parameters of 3-dof orientation mechanisms. The parameters are to be determined for a given workspace. which in this case is described as a set of angles of orientation. An algorithm is presented, based on the equations of constraints which makes it possible to obtain the parameters of a manipulator. whose workspace involves the specified taskspace.
引用
收藏
页码：179 / 183
页数：5
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