Dimensional synthesis of manipulators
Abstract
A method for determining the dimensions of a manipulator, so that it will perform in a specific manner, is presented. Attention is given to the question of what dimensions a manipulator must have for a specified maximum and minimum reach from the base. Solutions based on a relationship between extreme positions and link dimensions are presented for simple two and three link manipulator elements. Further, general formulas are developed and a method for solving the problem when a manipulator containing an arbitrary number of links is to be designed is described.
- Publication:
-
In: Symposium on Theory and Practice of Robots and Manipulators
- Pub Date:
- 1980
- Bibcode:
- 1980stpr.proc..166S
- Keywords:
-
- Dimensional Measurement;
- Equations Of Motion;
- Linkages;
- Manipulators;
- Mechanical Devices;
- Positioning Devices (Machinery);
- Axes Of Rotation;
- Cartesian Coordinates;
- Design Analysis;
- Directional Control;
- Distance;
- Extremum Values;
- Robots;
- Physics (General)