0
TECHNICAL PAPERS

An Optimization Approach to the Determination of the Boundaries of Manipulator Workspaces

[+] Author and Article Information
J. A. Snyman, L. J. du Plessis

Multidisciplinary Design Optimization Group (MDOG), Department of Mechanical and Aeronautical Engineering, University of Pretoria 0002, South Africa

Joseph Duffy

Center for Intelligent Machines and Robotics (CIMAR), Department of Mechanical Engineering, University of Florida, Gainesville, FL 32611

J. Mech. Des 122(4), 447-456 (Jul 01, 1998) (10 pages) doi:10.1115/1.1289388 History: Received July 01, 1998
Copyright © 2000 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Ray in A from u0 to ∂A
Grahic Jump Location
Numerical map of ∂A; ubi,i=0,1,[[ellipsis]],N
Grahic Jump Location
Complication if A is non-convex
Grahic Jump Location
Planar Stewart platform
Grahic Jump Location
Boundary of the accessible output set of the standard planar Stewart platform (1≤l3≤3)
Grahic Jump Location
Boundary of the accessible output set of the modified planar Stewart platform (1≤l3≤3)
Grahic Jump Location
Computed curves for the standard planar Stewart platform 1≤l3≤3
Grahic Jump Location
Computed curves for the modified planar Stewart platform 1≤l3≤3
Grahic Jump Location
Planar serial manipulator with redundant input
Grahic Jump Location
Boundary of the accessible output set of the planar serial manipulator
Grahic Jump Location
Interior bifurcation points and curves of the planar serial manipulator
Grahic Jump Location
Magnified view of upper part of boundary and bifurcation curves of planar serial manipulator

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In