DocumentCode
2095161
Title
Analysis of the workspace of 2-DOF spherical 5R parallel manipulator
Author
Zhang, Li-Jie ; Niu, Yue-Wei ; Li, Yong-Quan ; Huang, Zhen
Author_Institution
Sch. of Mech. Eng., Yanshan Univ., Hebei
fYear
2006
fDate
15-19 May 2006
Firstpage
1123
Lastpage
1128
Abstract
Firstly, reachable workspace of 2-DOF spherical 2R serial manipulator has been studied and classified. On this basis, the theoretical workspace of 2-DOF spherical 5R parallel manipulator has been also studied and its design space was established. The shapes of theoretical workspace have been classified in the design space and expressed on the plane by using conformal transformation. These results would be very useful for designers to understand and grasp the performances of the manipulator´s workspace
Keywords
control system synthesis; manipulators; 2-DOF spherical 5R parallel manipulator; conformal transformation; design space; theoretical workspace; Aerospace industry; Industrial economics; Manipulators; Mechanical engineering; Orbital robotics; Parallel robots; Production; Service robots; Shape; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641860
Filename
1641860
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