A New Algorithm for the Determination of the Workspace of Complex Planar Kinematic Chains
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Abstract A new algorithm for the determination of the workspace of complex planar kinematic chains is presented in this paper. This algorithm is completely general since it can deal with any kind of topological graph and any set of parameters defined in a convention of notation. It uses the numerical solution of the inverse kinematics and is based on a wavefront expansion in the Cartesian space. Three examples are presented here, and lead to a dexterity mapping for two two-degree-of-freedom multi-loop manipulators and a three-degree-of-freedom hybrid manipulator.
1996 ◽
Vol 118
(1)
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pp. 22-28
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2017 ◽
Vol 99
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pp. 141-154
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