RESEARCH PAPERS: Robotics and Related Mechanisms Papers

Robot Workspace of a Tool Plane: Part 2—Computer Generation and Selected Design Conditions for Dexterity

[+] Author and Article Information
J. K. Davidson

Department of Mechanical Engineering, Arizona State University, Tempe, AZ 85287

P. Pingali

Intergraph Corp., Huntsville, AL

J. Mech., Trans., and Automation 109(1), 61-71 (Mar 01, 1987) (11 pages) doi:10.1115/1.3258786 History: Received July 01, 1986; Online November 19, 2009


In this paper the algorithm is completed for generation of envelope-surfaces for plane-workspaces of generally proportioned manipulators. Then the ruled surface Ψ is used for adapting the algorithm to 3-R manipulators for which the outermost two axes intersect (a2 = 0). The discriminant D is further developed, and it is used to classify 3-R manipulators, having a2 = 0, into seven Types. Manipulators, which are of Type 7, (i) can provide any orientation to a tool plane σ or (ii), with a fourth appropriately placed R joint and tool plane Σ , can also provide any attitude to the end effector. Design conditions are developed and presented which ensure that a manipulator will possess these properties of dexterity. The conditions are based on coupled motions at all three, or four, axes.

Copyright © 1987 by ASME
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