Designing a Parallel Manipulator for a Specific Workspace
نویسنده
چکیده
We present an algorithm to determine all the possible geometries of Gough-type 6 d.o.f. parallel manipulators whose workspace has to include a desired workspace. This desired workspace is described as a set of geometric objects, limited here to points and segments, which describe the desired locations of the center of the moving platform. It is assumed that the orientation of the platform is fixed for each given object. This algorithm takes into account the leg length limits, the mechanical limits on the passive joints and interference between links.
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ورودعنوان ژورنال:
- I. J. Robotics Res.
دوره 16 شماره
صفحات -
تاریخ انتشار 1997