Hostname: page-component-78c5997874-8bhkd Total loading time: 0 Render date: 2024-11-13T11:02:22.362Z Has data issue: false hasContentIssue false
  • English
  • Français

Determination of parameters of 3-dof spatial orientation manipulators for a specified workspace

Published online by Cambridge University Press:  26 February 2003

A. Kosinska ,
M. Galicki  and
K. Kedzior
A. Kosinska
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul. Nowowiejska 24, 00-665 Warsaw (Poland).
M. Galicki
Affiliation:
Technical University of Zielona Gora, Dept. of Organisation Prod. Systems, ul. Podgorna 50, 54-246 Zielona Gora (Poland).
K. Kedzior
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul. Nowowiejska 24, 00-665 Warsaw (Poland).
Get access Rights & Permissions [Opens in a new window]

Abstract

The objective of the paper is to present a method of designing geometrical parameters of 3-dof orientation mechanisms. The parameters are to be determined for a given workspace, which in this case is described as a set of angles of orientation. An algorithm is presented, based on the equations of constraints which makes it possible to obtain the parameters of a manipulator. whose workspace involves the specified taskspace.

Keywords

KinematicsParallel manipulatorsWorkspaceDesigning
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 179 - 183
Copyright
© 2003 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)