A Workspace based Classification of 3R Orthogonal Manipulators

Details A Workspace based Classification of 3R Orthogonal Manipulators A Workspace based Classification of 3R Orthogonal Manipulators

2007-05-10

arxiv.org/abs/0705.1400v1

9th International Symposium on Advances in Robot Kinematics (2004) 1-10

Computer Science

Robotics

Scientific paper

A classification of a family of 3-revolute (3R) positioning 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 of the manipulator. 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 partitioned into nine subspaces of distinct workspace topologies. Each separating surface is given as an explicit expression in the DH-parameters.

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