A geometrical alternative to Jacobian rank deficiency method for planar workspace characterisation

DOI10.1016/J.MECHMACHTHEORY.2009.09.007zbMATH Open1379.70007OpenAlexW1971594967MaRDI QIDQ2269124FDOQ2269124

Authors Jérôme Bastien, Pierre Legreneur, Karine Monteil

Publication date 16 March 2010

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

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2009.09.007

zbMATH Keywords

biomechanicsroboticsrank of Jacobianswept surfaceserial manipulatorhuman upper limb

Mathematics Subject Classification ID

Biomechanical solid mechanics (74L15) Kinematics of mechanisms and robots (70B15)

Recommendations

• A computational geometry approach for determination of boundary of workspaces of planar manipulators with arbitrary topology.
• Workspaces of planar parallel manipulators.
• Geometrical characterisation of the boundary of the polyarticulated system workspace in the plane
• A new algorithm for workspace analysis for robot manipulators
• A simplified approach for obtaining the workspace of a class of 2-dof planar parallel manipulators.

Cites work

• A computational geometry approach for determination of boundary of workspaces of planar manipulators with arbitrary topology.
• An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
• Formulation of the workspace equation for wrist-partitioned spatial manipulators
• The determination of nonconvex workspaces of generally constrained planar Stewart platforms
• Workspaces of planar parallel manipulators.

Cited in

(4)

• Solution space atlases, workspace characteristics charts and joint space maps for the design of planar serial manipulators
• A new algorithm for workspace analysis for robot manipulators
• Geometrical characterisation of the boundary of the polyarticulated system workspace in the plane
• Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying

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