Crossable Surfaces of Robotic Manipulators With Joint Limits

[+] Author and Article Information
Karim Abdel-Malek, Harn-Jou Yeh

Department of Mechanical Engineering, The University of Iowa, Iowa City, Iowa 52242

J. Mech. Des 122(1), 52-60 (Jan 01, 2000) (9 pages) doi:10.1115/1.533545 History: Received May 01, 1996; Revised January 01, 2000
Copyright © 2000 by ASME
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(a) A two DOF manipulator, (b) some singular curves due to joint limits, (c) all singular curves, (d) workspace envelope
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A planar 3 DOF manipulator
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(a) Singular curves of the planar 3-bar linkage, (b) identifying singular curves
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(a) Singular curves, (b) admissible normal movement directions
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A four DOF manipulator with prismatic joints
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A cross-section of the workspace depicting all singular surfaces
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(a) A cross-section of the workspace at q1=π/2, (b) crossable and non-crossable surfaces, and (c) admissible directions of normal movement




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