RESEARCH PAPERS: Mechanisms Papers

Rigid Body Location and Robot Workspaces: Some Alternative Manipulator Forms

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

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

K. H. Hunt

Department of Mechanical Engineering, Monash University, Clayton, Victoria 3168, Australia

J. Mech., Trans., and Automation 109(2), 224-232 (Jun 01, 1987) (9 pages) doi:10.1115/1.3267442 History: Received July 01, 1986; Online November 19, 2009


Using an enumeration procedure for connectivity, the theoretically minimum number of actuators is identified for each of six types of point workspace. Robot dexterity is described using the omnidirectional, primary, and dexterous workspaces of a point. It is shown that only two plane workspaces are sufficient to provide all the mechanically achievable workspaces that are dual to the six point workspaces. Several manipulator structures are identified, and these provide equivalent dexterity to that achieved by a spherical wrist with three concurrent, sequentially orthogonal, and fully-rotatable hinge joints.

Copyright © 1987 by ASME
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