In this paper the concept of feasible workspace regions is introduced and used to design two-revolute manipulators for a workspace prescribed through arbitrarily given workspace points. A design formulation has been proposed to derive an analytical procedure for defining the feasible workspace regions as regions within which feasible solutions for the manipulator design can be obtained. The feasible workspace regions have been geometrically characterized and specific topologies have been shown through illustrative examples. The design algorithm has been completed with a closed form formulation for geometrical parameters and it gives the opportunity to discuss the number and characteristics of multiple solutions.
Issue Section:
Technical Papers
1.
Gupta
, K. C.
, and Roth
, B.
, 1982
, “Design Considerations for Manipulator Workspace
,” ASME J. Mech. Des.
, 104
, pp. 704
–711
.2.
Freudenstein
, F.
, and Primrose
, E. J. F.
, 1984
, “On the Analysis and Synthesis of the Workspace of a Three-Link Turning-Pair Connected Robot Arm
,” ASME Journal of Mechanisms, Transmissions and Automation in Design
, 106
, pp. 365
–370
.3.
Tsai
, Y. C.
, and Soni
, A. H.
, 1985
, “Workspace Synthesis of 3R, 4R, 5R and 6R Robots
,” Mech. Mach. Theory
, 20
(4
), pp. 555
–563
.4.
Roth, B., 1987, “Analytical Design of Two-Revolute Open Chains,” Sixth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, The MIT Press, Cambridge, pp. 207–214.
5.
Ceccarelli, M., and Vinciguerra, A., 1990, “A Design Method of Three-Revolute Open Chain Manipulators,” Proceedings of VIIth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Hermes, Paris, pp. 318–325.
6.
Ceccarelli
, M.
, 1995
, “A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary
,” ASME J. Mech. Des.
, 117
, pp. 298
–302
.7.
Roth, B., 1986, “Analytical Design of Open Chains,” Third International Symposium on Robotic Research, MIT Press, Cambridge, pp. 281–288.
8.
Yang
, D. C. H.
, and Lee
, T. W.
, 1984
, “Heuristic Combinatorial Optimization in the Design of Manipulator Workspace
,” IEEE Trans. Syst. Man Cybern.
, SMC-14
(4
), pp. 571
–580
.9.
Lin
, C. D.
, and Freudenstein
, F.
, 1986
, “Optimization of the Workspace of a Three-Revolute Open Chain Manipulators
,” Int. J. Robot. Res.
, 5
(1
), pp. 104
–111
.10.
Ceccarelli
, M.
, Mata
, V.
, and Valero
, F.
, 1994
, “Optimal Synthesis of Three-Revolute Manipulators
,” AIMETA International Journal Meccanica, Kluwer, Dordrecht
, 29
(1
), pp. 95
–103
.11.
Fichter
, E. F.
, and Hunt
, K. H.
, 1975
, “The Fecund Torus, its Bitangent-Circles and Derived Linkages
,” Mech. Mach. Theory
, 10
, pp. 167
–176
.12.
Ceccarelli, M., and Scaramuzza, G., 1995, “Analytical Constraints for a Workspace Design of 2R Manipulators,” Computational Kinematics ’95, Kluwer, Dordrecht, pp. 173–182.
13.
Ceccarelli, M., 1996, “Feasible Workspace Regions for a Two-Revolute Manipulator Design,” Recent Advances in Robot Kinematics, Kluwer, Dordrecht, pp. 189–198.
14.
Ceccarelli
, M.
, 1996
, “A Formulation for the Workspace Boundary of General N-Revolute Manipulators
,” Mech. Mach. Theory
, 31
(5
), pp. 637
–646
.15.
Ghizzetti, A., and Rosati F., 1972, Lezioni di Analisi Matematica—Vol. II, Veschi, Roma, pp. 58–62. (in Italian).
16.
Belding, W. G., ed., 1983, ASM Handbook of Engineering Mathematics, American Society for Metals, Metals Park, pp. 19–21.
17.
Desa, S., and Roth, B., 1985, “Mechanics: Kinematics and Dynamics,” Recent Advances in Robotics, Beni G. and Hackwood S., eds., J. Wiley & Sons, New York, Ch. 3, pp. 71–130.
Copyright © 2002
by ASME
You do not currently have access to this content.