Title :
Optimal workspace designs of free-floating planar manipulators
Author :
Agrawal, Sunil Kumar ; Garimella, Rao ; Desmier, Glenn
Author_Institution :
Dept. of Mech. Eng., Ohio Univ., Athens, OH, USA
Abstract :
For free-floating manipulators, the workspace of a reference point is a function of the links´ geometry, the link masses, and the location of the mass centers. The question addressed is how to choose these parameters, namely, the link lengths, the link masses, and the geometric location of the mass centers such that the workspace is maximized. This question is studied for both free-floating planar open and closed chains in which all the joints are revolute
Keywords :
geometry; mobile robots; closed chains; free-floating planar manipulators; geometry; link masses; mass centers; open chains; reference point; workspace designs; Equations; Rail to rail inputs; Vectors;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174754
