Designing Two-Revolute Manipulators for Prescribed Feasible Workspace Regions

[+] Author and Article Information
Marco Ceccarelli

Dipartimento di Meccanica, Strutture, Ambiente e Territorio, Università di Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italye-mail: ceccarelli@ing.unicas.it

J. Mech. Des 124(3), 427-434 (Aug 06, 2002) (8 pages) doi:10.1115/1.1485743 History: Received April 01, 1998; Online August 06, 2002
Copyright © 2002 by ASME
Topics: Design , Manipulators
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Grahic Jump Location
A two-revolute manipulator and its design parameters
Grahic Jump Location
General geometry of feasible workspace regions FW for two-revolute manipulators depicted as grew area
Grahic Jump Location
A degenerated case for feasible workspace regions when RA=RU (Coordinates are expressed in u unit length)
Grahic Jump Location
A degenerate case for feasible workspace regions when the prominent area of RC collapses into the boundary of RARU (Coordinates are expressed in u unit length)
Grahic Jump Location
A degenerated case for feasible workspace regions when P2,P3 and P4 are collinear (Coordinates are expressed in u unit length)
Grahic Jump Location
Characteristic geometry of the toroids within feasible workspace regions FW as a function of P1 location for the case with P2=(4,2),P3=(3,4),P4=(6,5) (Coordinates are expressed in u unit length)
Grahic Jump Location
A numerical example of the proposed design procedure: given workspace points P1=(8,3),P2=(4,2),P3=(3,3),P4=(5,5), in the computed feasible workspace regions and the toroid workspace (dotted line) for the synthesized manipulators (Coordinates are expressed in u unit length)




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