DocumentCode
2807005
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
fYear
1991
fDate
3-5 Nov 1991
Firstpage
1653
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1991.174754
Filename
174754
Link To Document