Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Homotopy Continuation

[+] Author and Article Information
Eric Lee, Constantinos Mavroidis

Robotics and Mechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Rd., Piscataway, NJ 08854Webpage: http://cronos.rutgers.edu/∼mavro/robot

J. Mech. Des 124(4), 652-661 (Nov 26, 2002) (10 pages) doi:10.1115/1.1515796 History: Received March 01, 2001; Online November 26, 2002
Copyright © 2002 by ASME
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Grahic Jump Location
Denavit and Hartenberg parameters
Grahic Jump Location
Schematic of a 3R open loop spatial manipulator
Grahic Jump Location
CAD drawings of the real 3R manipulators found using Type 1 free choices (see Table 1)
Grahic Jump Location
CAD drawings of the real 3R manipulators found using Type 2 free choices (see Table 2)




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