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
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;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641860
