Limits at $3 in a New Formulation for Path-Placement in the Workcells of Planar 3-R Robots

[+] Author and Article Information
J. K. Davidson

Department of Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ 85287-6106

N. A. Soman

Center for Technology, Policy & Industrial Development, Massachusetts Institute of Technology, Cambridge, MA 02139

J. Mech. Des 117(3), 485-490 (Sep 01, 1995) (6 pages) doi:10.1115/1.2826704 History: Received February 01, 1995; Revised May 01, 1995; Online December 11, 2007


Excursion-limits at the third joint of a three-hinged planar robot are incorporated into a new systematic formulation for path-placement in which the three-dimensional solution-space is decomposed into a two-dimensional space of variables that strongly control the placement of the path and a one-dimensional space that is much less critical. The new formulation determines all acceptable positions for the first joint of the robot relative to the workpiece. All possible acceptable designs appear in a graphical form that can be readily visualized and be directly measured in a Cartesian frame of reference in the workcell. The method is extended to closed tool-paths, and the method is illustrated with practical examples.

Copyright © 1995 by The American Society of Mechanical Engineers
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