{"title":"二自由度微型并联机器人Biglide的工作空间分析","authors":"S. Stan, V. Maties, R. Balan","doi":"10.1109/ARSO.2007.4531419","DOIUrl":null,"url":null,"abstract":"The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini parallel robot. Planar parallel robots are good candidates for microminiaturization into a microdevice. The workspace is one of the most important kinematic properties of robots, even by practical viewpoint because of its impact on robot design. A program was created in MATLAB for workspace analysis of 2 DOF parallel robots. Singular configurations are also obtained.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"46 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Workspace analysis of the Biglide mini parallel robot with 2 DOF\",\"authors\":\"S. Stan, V. Maties, R. Balan\",\"doi\":\"10.1109/ARSO.2007.4531419\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini parallel robot. Planar parallel robots are good candidates for microminiaturization into a microdevice. The workspace is one of the most important kinematic properties of robots, even by practical viewpoint because of its impact on robot design. A program was created in MATLAB for workspace analysis of 2 DOF parallel robots. Singular configurations are also obtained.\",\"PeriodicalId\":344670,\"journal\":{\"name\":\"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts\",\"volume\":\"46 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ARSO.2007.4531419\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ARSO.2007.4531419","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Workspace analysis of the Biglide mini parallel robot with 2 DOF
The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini parallel robot. Planar parallel robots are good candidates for microminiaturization into a microdevice. The workspace is one of the most important kinematic properties of robots, even by practical viewpoint because of its impact on robot design. A program was created in MATLAB for workspace analysis of 2 DOF parallel robots. Singular configurations are also obtained.
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