DocumentCode
3234566
Title
Characterization of the analytical boundary of the workspace for 3-6 SPS parallel manipulator
Author
Qizhi, Wang ; Dongsheng, Wang ; Min, Tan
Author_Institution
Inst. of Autom., Acad. Sinica, Beijing, China
Volume
4
fYear
2001
fDate
2001
Firstpage
3755
Abstract
An analytical boundary is presented to obtain all surfaces enveloping the workspace of 3-6 SPS parallel manipulator, based on the parameter equations and the condition of parallel moving. The planform and profile of the workspace are analyzed and proved. The analytic geometry method of delineating the workspace is better than simulating as well as numerical techniques with a six degrees of freedom parallel manipulator, which can completely depict the configuration of the workspace.
Keywords
geometry; manipulator kinematics; 3-6 SPS parallel manipulator; analytic geometry method; analytical boundary; configuration; parallel movement; planform; profile; six degrees of freedom parallel manipulator; workspace; Analytical models; Automation; Computational geometry; Equations; Kinematics; Laboratories; Manipulators; Parallel robots; Polynomials; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933202
Filename
933202
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