Title :
Performance charts for the design of robotic mechanisms with three moving links
Author :
Gao, Feng ; Gruver, William A. ; Zhang, Yuru
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
This research concerns a method for the analysis, classification and design of robotic mechanisms with three moving links. Using the workspace geometry, we describe relationships between the kinematic properties and link lengths. The method utilizes a model of the solution space for planar serial mechanisms. Using this model, performance charts are obtained for three types of workspaces. As an example of the proposed methodology, a large number of industrial robots and research manipulators are classified. The technique has wide application to the analysis and design of robotic hands, manipulators, and walking machines
Keywords :
geometry; robot kinematics; classification; design; industrial robots; kinematic properties; link lengths; manipulators; moving links; performance charts; planar serial mechanisms; research manipulators; robotic hands; robotic mechanism; walking machines; workspace geometry; Computational geometry; Industrial relations; Intelligent robots; Legged locomotion; Manipulators; Mechanical factors; Orbital robotics; Robot kinematics; Service robots; Solid modeling;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.571360
