Orientation capability of planar manipulators using virtual joint angle analysis.

DOI10.1016/S0094-114X(02)00118-0MaRDI QIDQ1870121zbMATH OpenOpenAlexFDO

Authors Yanyan Li, Jian S. Dai, Paresh Shah

Publication date 11 May 2003

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0094-114x(02)00118-0

zbMATH Keywords

DexterityRotatability

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Kinematics of mechanisms and robots (70B15)

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(6)

• Geometric and kinematic analysis of a seven-bar three-fixed-pivoted compound-joint mechanism
• Configuration analysis of robot modular arm based on capability map
• Industrial robot layout based on operation sequence optimisation
• Crank conditions and rotatability of 3-\(RRR\) planar parallel mechanisms
• Orientation angle rotatability of planar serial n-link manipulators
• Solution space atlases, workspace characteristics charts and joint space maps for the design of planar serial manipulators

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