Title :
On the optimal kinematic design of spherical and spatial mechanisms
Author_Institution :
Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
Abstract :
The optimal kinematic design of spherical and spatial mechanisms for dexterity and workspace volume is addressed. The concept of dexterity used is based on the distortion measure of harmonic mappings which is defined in a natural, coordinate-invariant way. The author analyzes the performance of robotic wrists with respect to these kinematic criteria, and determines the optimal link lengths for a simple two-link, 3R spatial open chain. In addition, he compares the kinematic dexterity of three redundant 7R open chains
Keywords :
control system synthesis; kinematics; optimal control; robots; dexterity; distortion measure; harmonic mappings; optimal kinematic design; optimal link lengths; redundant 7R open chains; robotic wrists; spatial mechanisms; spherical mechanisms; two link 3R spatial open chain; Coordinate measuring machines; Distortion measurement; Hafnium; Harmonic distortion; Jacobian matrices; Performance analysis; Robot kinematics; Terminology; Visualization; Wrist;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131833
