A Study On Workspace Topologies Of 3R Industrial-Type Manipulators
- Authors
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Erika Ottaviano
LARM, University of Cassino
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Manfred Husty
University of Innsbruck, Institute for Engineering Mathematics Geometry and Computer Science
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Marco Ceccarelli
LARM, University of Cassino
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- Abstract
- This paper presents a workspace analysis of 3R industrial-type manipulators, which have geometrical simplification of 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.
- References
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- Published
- 2006-03-30
- Issue
- Vol. 8 No. 1 (2006)
- Section
- Articles