A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace

Details A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace

2007-07-19

arxiv.org/abs/0707.2842v1

Proc. IEEE Int. Conf. Rob. and Automation (04/2004) 1-6

Computer Science

Robotics

Scientific paper

A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters space is shown to be divided into nine domains of distinct workspace topologies, in which all manipulators have similar global kinematic properties. Each separating surface is given as an explicit expression in the DH-parameters.

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