ON THE WORKSPACE OF SPHERICAL 3-DOF SERIAL MANIPULATORS

Abstract

Abstract: The workspaces, reachable workspace and dexterous worspace, of spherical 3-DOF serial manipulators are studied systematically. The equations of calculating the area of workspces are presented. Using the theory of Conformal Transformation, the planar figures of the workspaces are mapped. The Grashof-type conditions for spherical 4-bar mechanisms are obtained. The results are useful for the designers to design the spherical 3-DOF serial manipulators.

Key words: Conformal transformation, Grashof-type conditions, Manipulators, Spherical mechanisms, Workspace

CLC Number:

TH112.1

Zhang Lijie;Zong Jiafu. ON THE WORKSPACE OF SPHERICAL 3-DOF SERIAL MANIPULATORS[J]. , 2000, 36(10): 104-107.

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ON THE WORKSPACE OF SPHERICAL 3-DOF SERIAL MANIPULATORS

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