Title :
A Study on Workspace Topologies of 3R Industrial-Type Manipulators
Author :
Ottaviano, Erika ; Husty, Manfred ; Ceccarelli, Marco
Author_Institution :
LARM, Cassino Univ.
Abstract :
This paper presents a workspace analysis of 3R industrial-type manipulators, which have a geometrical simplification of the general kinematic parameters. In particular, we have focused attention on industrial-type manipulators, which can be grouped usually as orthogonal and ortho-parallel manipulators. The classification regards with relative orientation of three directions of revolute joints´ axes. A formulation is presented based on a level-set reconstruction of the workspace. The proposed analysis allows for determining different topologies of industrial manipulators based on kinematic properties. Numerical examples are shown
Keywords :
industrial manipulators; manipulator kinematics; 3R industrial-type manipulator; geometrical simplification; industrial manipulator; kinematic parameter; ortho-parallel manipulator; orthogonal manipulator; revolute joint axis; workspace analysis; workspace topology; Fingers; Geometry; Jacobian matrices; Kinematics; Performance analysis; Topology; Trajectory; Wrist;
Conference_Titel :
Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
1-4244-0360-X
Electronic_ISBN :
1-4244-0361-8
DOI :
10.1109/AQTR.2006.254638
