A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary

[+] Author and Article Information
M. Ceccarelli

Dipartimento di Ingegneria Industriale, Università di Cassino, Via Zamosch 43, 03043 Cassino (FR), Italy

J. Mech. Des 117(2A), 298-302 (Jun 01, 1995) (5 pages) doi:10.1115/1.2826138 History: Received April 01, 1993; Revised November 01, 1994; Online December 11, 2007


A new synthesis algorithm for general three-revolute open chain manipulators is proposed making use of an algebraic formulation for the workspace boundary. This algebraic form of a synthesis model is used to formulate design equations and to discuss the number and the type of the multiple solutions.

Copyright © 1995 by The American Society of Mechanical Engineers
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