A study of the workspace of five-bar closed loop manipulator

B. Fallahi, H. Y. Lai, R. Naghibi, Y. Wang

Research output: Contribution to journalArticle

22 Citations (Scopus)

Abstract

A systematic procedure is developed to identify the manipulation boundary and to characterize the workspace of a five-bar manipulator. This is done by partitioning the joint coordinates into a dependent and independent set. The expression for the coordinates of the wrist in terms of joint coordinates is derived. By using the Implicit Function Theorem, it is shown that the jacobian of these coordinates with respect to independent joint coordinates vanishes at the boundary. Explicit form of the condition for vanishing jacobian is derived for five-bar manipulators. These conditions are used to identify the workspace. Sub-region of workspace where four, two, and no solution exists are identified.

Original languageEnglish
Pages (from-to)759-765
Number of pages7
JournalMechanism and Machine Theory
Volume29
Issue number5
DOIs
Publication statusPublished - 1994 Jul

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Manipulators

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

Cite this

Fallahi, B. ; Lai, H. Y. ; Naghibi, R. ; Wang, Y. / A study of the workspace of five-bar closed loop manipulator. In: Mechanism and Machine Theory. 1994 ; Vol. 29, No. 5. pp. 759-765.
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A study of the workspace of five-bar closed loop manipulator. / Fallahi, B.; Lai, H. Y.; Naghibi, R.; Wang, Y.

In: Mechanism and Machine Theory, Vol. 29, No. 5, 07.1994, p. 759-765.

Research output: Contribution to journalArticle

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