scholarly journals Discussion: “Robot Workspace of a Tool Plane: Part 2—Computer Generation and Selected Design Conditions for Dexterity” (Davidson, J. K., and Pingali, P., 1987, ASME J. Mech. Transm. Autom. Des., 109, pp. 61–71)

1987 ◽  
Vol 109 (1) ◽  
pp. 72-72
Author(s):  
Eugene Fichter
Keyword(s):  
Plane Part ◽  
Computer Generation ◽  
Robot Workspace

Robot Workspace of a Tool Plane: Part 2—Computer Generation and Selected Design Conditions for Dexterity

1987 ◽  
Vol 109 (1) ◽  
pp. 61-71 ◽  
Author(s):  
J. K. Davidson ◽  
P. Pingali
Keyword(s):  
Ruled Surface ◽  
End Effector ◽  
Plane Part ◽  
Computer Generation ◽  
Robot Workspace

In this paper the algorithm is completed for generation of envelope-surfaces for plane-workspaces of generally proportioned manipulators. Then the ruled surface Ψ is used for adapting the algorithm to 3-R manipulators for which the outermost two axes intersect (a2 = 0). The discriminant D is further developed, and it is used to classify 3-R manipulators, having a2 = 0, into seven Types. Manipulators, which are of Type 7, (i) can provide any orientation to a tool plane σ or (ii), with a fourth appropriately placed R joint and tool plane Σ, can also provide any attitude to the end effector. Design conditions are developed and presented which ensure that a manipulator will possess these properties of dexterity. The conditions are based on coupled motions at all three, or four, axes.

Robot Workspace of a Tool Plane: Part 1—A Ruled Surface and Other Geometry

1987 ◽  
Vol 109 (1) ◽  
pp. 50-60 ◽  
Author(s):  
J. K. Davidson ◽  
K. H. Hunt
Keyword(s):  
Intersection Point ◽  
Ruled Surface ◽  
Geometric Features ◽  
Sweeping Process ◽  
Tangent Point ◽  
Plane Part ◽  
Computer Generation ◽  
Robot Workspace

The sweeping process is used for conceptually describing plane-workspaces and for distinguishing certain forms of these workspaces for robots. The tangent point to the plane-workspace of a tool plane σ is identified as the intersection point of σ with that extreme-distance line which is also normal to σ. The quartic ruled surface, which is a new property of the dual torus, is identified and described. It contains information that uniquely identifies the 2-R manipulator which generates the dual torus. these geometric features are then used in developing the equations for computer generation of plane-workspace envelopes and boundaries for an n-R robot.

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