Performance charts for the design of robotic mechanisms with three moving links

Author

Gao, Feng ; Gruver, William A. ; Zhang, Yuru

Author_Institution

Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada

Volume

2

fYear

1996

fDate

14-17 Oct 1996

Firstpage

1471

Abstract

This research concerns a method for the analysis, classification and design of robotic mechanisms with three moving links. Using the workspace geometry, we describe relationships between the kinematic properties and link lengths. The method utilizes a model of the solution space for planar serial mechanisms. Using this model, performance charts are obtained for three types of workspaces. As an example of the proposed methodology, a large number of industrial robots and research manipulators are classified. The technique has wide application to the analysis and design of robotic hands, manipulators, and walking machines

Keywords

geometry; robot kinematics; classification; design; industrial robots; kinematic properties; link lengths; manipulators; moving links; performance charts; planar serial mechanisms; research manipulators; robotic hands; robotic mechanism; walking machines; workspace geometry; Computational geometry; Industrial relations; Intelligent robots; Legged locomotion; Manipulators; Mechanical factors; Orbital robotics; Robot kinematics; Service robots; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1996., IEEE International Conference on

Conference_Location

Beijing

ISSN

1062-922X

Print_ISBN

0-7803-3280-6

Type

conf

DOI

10.1109/ICSMC.1996.571360

Filename

571360