Workspace atlases for the design of spherical 3-DOF serial wrists

被引：4
|
作者：
Liu, XJ
Wang, JS
Gao, F
机构：
[1] Tsing Hua Univ, Dept Precis Instruments, Mfg Engn Inst, Beijing 100084, Peoples R China
[2] Hebei Univ Technol, Robot Res Ctr, Tianjin 300130, Peoples R China
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2003年 / 36卷 / 04期
关键词：
atlas; spherical mechanisms; workspace; wrists;
D O I：
10.1023/A:1023633719043
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the physical model of the solution space of spherical 3-DOF serial wrists is established. The reachable workspaces are classified. The dexterous workspaces for such wrists are investigated based on the rotatability conditions for the spherical 4-bar mechanism. Using the theory of conformal transformation, we obtain plane figures of the reachable and dexterous workspaces. The atlases of the workspaces in the physical model of the solution space are plotted. These results are useful not only for designer overall to understand the relationship between the workspaces and link lengths of spherical 3-DOF serial wrists, but also for the design of the wrists.
引用
收藏
页码：389 / 405
页数：17
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