0

Full Content is available to subscribers

Subscribe/Learn More  >

Dexterous Workspace of N-PRRR Planar Parallel Manipulators

[+] Author Affiliations
André Gallant, Roger Boudreau, Marise Gallant

Université de Moncton, Moncton, NB, Canada

Paper No. DETC2010-28491, pp. 1327-1334; 8 pages
doi:10.1115/DETC2010-28491
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n-PR RR planar parallel manipulators. The dexterous workspace of each non-redundant RRR kinematic chain is first determined using a four-bar mechanism analogy. The effect of the prismatic actuator is then considered to yield the workspace of each PRRR kinematic chain. The intersection of the dexterous workspaces of all the kinematic chains is then obtained to determine the dexterous workspace of the planar n-PR RR manipulator. The Gauss Divergence Theorem applied to planar surfaces is implemented to compute the total dexterous workspace area. Finally, two examples are shown to demonstrate applications of the method.

Copyright © 2010 by ASME
Topics: Manipulators

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In