Hao Gu and Marco Ceccarelli
Robotics, manipulators, workspace, kinematics
In this paper, a formulation for the ring workspace of three-revolute manipulators has been used for developing a straightforward analysis to investigate a general catalogue of workspace topology. A concept of TWT (table of workspace topology) has been proposed for a systematic analysis. With TWTs, some typical configurations of general three-revolute manipulators have been computed and analysed. The detected link effects on workspace have been reported in both topology characteristics and volume values.
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