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telescopic manipulators

Robotica (1)

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On the workspace of telescopic manipulators
Marco Ceccarelli
Journal:

Robotica / Volume 16 / Issue 6 / November 1998

Published online by Cambridge University Press:

05 April 2001, pp. 691-696
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An analytical procedure is proposed for determining the workspace boundary of general telescopic manipulators. The algorithm has been developed by using the Theory of Envelopes providing an algebraic formulation. An analysis of the workspace of telescopic chain has been carried out to emphasize on a general topology and to investigate the effect of link parameters and telescopic stroke.