Title :
Criteria based analysis and design of three degree of freedom planar robotic manipulators
Author :
Gao, Feng ; Guy, Fabrice ; Gruver, William A.
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF planar manipulators and analyze their operational performance. The technique has wide application to the design of serial and parallel robots
Keywords :
Jacobian matrices; geometry; manipulator kinematics; criteria based analysis; criteria based design; evaluation criteria; link lengths; operational performance; parallel robots; planar mechanisms; serial robots; three degree of freedom planar robotic manipulators; Animals; Biological system modeling; Humans; Intelligent robots; Legged locomotion; Manipulators; Manufacturing systems; Orbital robotics; Parallel robots; Service robots;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620081
