On the Analysis and Synthesis of the Workspace of a Three-Link, Turning-Pair Connected Robot Arm
On the Analysis and Synthesis of the Workspace of a Three-Link, Turning-Pair Connected Robot Arm
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三连杆转动副连接机械臂工作空间的分析与综合
DOI：
10.1115/1.3267420
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发表时间：
1984
期刊：
影响因子：
--
通讯作者：
E. Primrose
中科院分区：
文献类型：
--
作者：
F. Freudenstein;E. Primrose
本文分析了一般比例的三轴转动副连接机器人手臂的工作空间，其工作空间是由空间中一个绕偏置轴旋转的斜圆环面扫过的空间体积来表示的。这种配置的代数几何已被用于工作空间特性的确定。代数标准已导出极端的轴向和径向达到和消除两种类型的空隙被发现是3-R机器人配置的特性。这些准则可用于机器人设计的分析和综合阶段。
The workspace of a three-axis, turning-pair connected robot arm of general proportions has been analyzed in terms of the volume swept out by the surface of a skew torus rotating about an offset axis in space. The algebraic geometry of this configuration has been utilized in the determination of workspace characteristics. Algebraic criteria have been derived for extreme axial and radial reach and the elimination of two types of voids which were found to be characteristic of the 3-R robot configuration. These criteria can be used both in the analysis and synthesis stages of robot design.