Kinematic analysis and design of articulated manipulators with joint motion constraints

Dwarakanath, TA and Ghosal, A and Shrinivasa, U (1994) Kinematic analysis and design of articulated manipulators with joint motion constraints. In: Journal of Mechanical Design, 116 (3). pp. 969-972.

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Abstract

For an articulated manipulator with joint rotation constraints, we show that the maximum workspace is not necessarily obtained for equal link lengths but is also determined by the range and mean positions of the joint motions. We present expressions for sectional area, workspace volume, overlap volume and work area in terms of link ratios, mean positions and ranges of joint motion. We present a numerical procedure to obtain the maximum rectangular area that can be embedded in the workspace of an articulated manipulator with joint motion constraints. We demonstrate the use of analytical expressions and the numerical plots in the kinematic design of an articulated manipulator with joint rotation constraints.

Item Type:	Editorials/Short Communications
Publication:	Journal of Mechanical Design
Publisher:	The American Society of Mechanical Engineers
Additional Information:	Copyright of this article belongs to The American Society of Mechanical Engineers.
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	20 May 2011 10:24
Last Modified:	30 Nov 2012 05:37
URI:	http://eprints.iisc.ac.in/id/eprint/36622

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