0
RESEARCH PAPERS: Robotics Papers

Workspace Analysis of Mechanical Manipulators Using Polynomial Discriminants

[+] Author and Article Information
D. Kohli, J. Spanos

Dept. of Mechanical Engineering, University of Wisconsin, Milwaukee, WI 53201

J. Mech., Trans., and Automation 107(2), 209-215 (Jun 01, 1985) (7 pages) doi:10.1115/1.3258710 History: Received July 10, 1984; Online November 19, 2009

Abstract

A new method, for the investigation of manipulator workspace, based on polynomial displacement equations and their discriminants is proposed in this paper. The approach followed enables one to obtain (a ) analytical expressions describing the workspace boundary surfaces in Cartesian coordinates, (b ) the distribution of the number of ways to position the hand inside the workspace, and (c ) the conditions on kinematic parameters when the motion of the hand degenerates. Joint limitations are incorporated in the method. In the present paper and a companion paper [17], the method is rigorously applied to eight types of manipulators with various combinations of revolute and prismatic pairs having the last three revolute axes intersect orthogonally at at point. A numerical example is presented for illustration.

Copyright © 1985 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

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