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TECHNICAL BRIEFS

An Elimination Procedure for Solving the Geometric Design of Spatial 3R Manipulators

[+] Author and Article Information
Eric Lee

Department of Mechanical and Industrial Engineering,  Northeastern University, 360 Huntington Avenue, Boston, MA 02115

Constantinos Mavroidis1

Department of Mechanical and Industrial Engineering,  Northeastern University, 360 Huntington Avenue, Boston, MA 02115mavro@coe.neu.edu

1

Corresponding author.

J. Mech. Des 128(1), 142-145 (Apr 13, 2005) (4 pages) doi:10.1115/1.2125970 History: Received September 17, 2004; Revised April 13, 2005

In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints when three precision points are specified is solved using an algebraic elimination method for the first time. Three spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator will be able to place its end-effector at these three prespecified locations. In this problem, six of the design parameters are set as free choices and their values are selected arbitrarily. For the specific case studied in this paper, a 12 deg single variable polynomial is calculated that has eight roots that are the design solutions and the other four roots are extraneous solutions.

Copyright © 2006 by American Society of Mechanical Engineers
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