An Analytical procedure is proposed for determining the workspace boundary of general telescopic RRP manipulators. The algorithm has been developed by using the Theory of Envelopes providing an algebraic formulation. An analysis of the workspace of RRP chain has been carried out to enlighten a general topology and to investigate the effect of link parameters and telescopic stroke.
Volume Subject Area:24th Biennial Mechanisms Conference
Topics:Manipulators, Algebra, Algorithms, Chain, Topology
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