简单机械手的灵巧工作空间

IEEE J. Robotics Autom. Pub Date : 1988-02-01 DOI:10.1109/56.778

Z. Lia, C. Menq

{"title":"简单机械手的灵巧工作空间","authors":"Z. Lia, C. Menq","doi":"10.1109/56.778","DOIUrl":null,"url":null,"abstract":"A theoretical study on the dexterous workspace of robotic manipulators is presented. For a robot with wrists that can generate a full range of orientations, the boundary of the robot's dexterous workspace is governed by the boundary of W/sub 1/(4), where W/sub 1/(4) is the reachable space of joint 4 when joints 1-3 are free to rotate. A method is developed on this basis. Three examples are given to illustrate this concept and method. They show that for simple robots, analytical expressions for the dexterous workspace can be obtained. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"28 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"30","resultStr":"{\"title\":\"The dexterous workspace of simple manipulators\",\"authors\":\"Z. Lia, C. Menq\",\"doi\":\"10.1109/56.778\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A theoretical study on the dexterous workspace of robotic manipulators is presented. For a robot with wrists that can generate a full range of orientations, the boundary of the robot's dexterous workspace is governed by the boundary of W/sub 1/(4), where W/sub 1/(4) is the reachable space of joint 4 when joints 1-3 are free to rotate. A method is developed on this basis. Three examples are given to illustrate this concept and method. They show that for simple robots, analytical expressions for the dexterous workspace can be obtained. >\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"28 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-02-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"30\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/56.778\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.778","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 30

摘要

对机器人灵巧工作空间进行了理论研究。对于具有可以产生全方位方向的手腕的机器人，机器人灵巧工作空间的边界由W/sub 1/(4)边界控制，其中W/sub 1/(4)为关节1-3自由旋转时关节4的可达空间。在此基础上发展了一种方法。给出了三个例子来说明这个概念和方法。结果表明，对于简单的机器人，可以得到灵巧工作空间的解析表达式。>

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

The dexterous workspace of simple manipulators

A theoretical study on the dexterous workspace of robotic manipulators is presented. For a robot with wrists that can generate a full range of orientations, the boundary of the robot's dexterous workspace is governed by the boundary of W/sub 1/(4), where W/sub 1/(4) is the reachable space of joint 4 when joints 1-3 are free to rotate. A method is developed on this basis. Three examples are given to illustrate this concept and method. They show that for simple robots, analytical expressions for the dexterous workspace can be obtained. >

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

IEEE J. Robotics Autom.

自引率

0.00%

发文量