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

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
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• A simplified approach for obtaining the workspace of a class of 2-dof planar parallel manipulators.

zbMATH Keywords

biomechanicsroboticsrank of Jacobianswept surfaceserial manipulatorhuman upper limb

Mathematics Subject Classification ID

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

Cites Work

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

Cited In (4)

• Solution space atlases, workspace characteristics charts and joint space maps for the design of planar serial 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
• A new algorithm for workspace analysis for robot manipulators

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