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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
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References

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Figures

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

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