Primary Workspace of Industrial Robots With Roll-Pitch-Yaw Wrists

[+] Author and Article Information
D. C. H. Yang, E. Y. Lin

Mechanical, Aerospace and Nuclear Engineering Department, University of California, Los Angeles, CA 90024

S. Y. Cheng

Department of Mathematics, University of California, Los Angeles, CA 90024

J. Mech. Des 112(3), 347-353 (Sep 01, 1990) (7 pages) doi:10.1115/1.2912614 History: Received March 01, 1988; Online June 02, 2008


This paper presents a new method to identify the primary workspace of six-link industrial robots with Roll-Pitch-Yaw wrists in conjunction with four basic types of regional structures: the Cartesian, the cylindrical, the spherical and the articulated. The approach is to divide a robot into two subsystems, the regional structure and the wrist. Each subsystem is studied independently and then reassembled via a vector field analysis. Geometrical criteria are established to determine whether or not the kinematic connection between the wrist and the regional structure is valid. Conditions for a robot to access a point from a specified direction are derived first. The primary workpoints are then identified. Consequently, the boundaries of the primary workspaces (on the conservative side) of robots with Roll-Pitch-Yaw wrists, for the first time, can be analytically drawn. Some regional structures adopted in commercial robots which differ slightly from the standard ones are also included.

Copyright © 1990 by The American Society of Mechanical Engineers
Topics: Robots , Yaw
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