Title :
Characterization of the analytical boundary of the workspace for 3-6 SPS parallel manipulator
Author :
Qizhi, Wang ; Dongsheng, Wang ; Min, Tan
Author_Institution :
Inst. of Autom., Acad. Sinica, Beijing, China
Abstract :
An analytical boundary is presented to obtain all surfaces enveloping the workspace of 3-6 SPS parallel manipulator, based on the parameter equations and the condition of parallel moving. The planform and profile of the workspace are analyzed and proved. The analytic geometry method of delineating the workspace is better than simulating as well as numerical techniques with a six degrees of freedom parallel manipulator, which can completely depict the configuration of the workspace.
Keywords :
geometry; manipulator kinematics; 3-6 SPS parallel manipulator; analytic geometry method; analytical boundary; configuration; parallel movement; planform; profile; six degrees of freedom parallel manipulator; workspace; Analytical models; Automation; Computational geometry; Equations; Kinematics; Laboratories; Manipulators; Parallel robots; Polynomials; Solid modeling;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933202
