In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved for the first time using an interval analysis method. In this problem, five spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these pre-specified locations. Denavit and Hartenberg parameters and homogeneous matrices are used to formulate the problem and obtain the design equations and an interval method is used to search for design solutions within a predetermined domain.
Five Precision Point Synthesis of Spatial RRR Manipulators Using Interval Analysis
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received February 2003; revised January 2004. Associate Editor: M. Raghavan.
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Lee , E., Mavroidis, C., and Merlet, J. P. (October 28, 2004). "Five Precision Point Synthesis of Spatial RRR Manipulators Using Interval Analysis ." ASME. J. Mech. Des. September 2004; 126(5): 842–849. https://doi.org/10.1115/1.1767180
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