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

B. Fallahi, Steven Hsin-Yi Lai, R. Naghibi, Y. Wang

研究成果: Article

22 引文 (Scopus)

摘要

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.

原文English
頁(從 - 到)759-765
頁數7
期刊Mechanism and Machine Theory
29
發行號5
DOIs
出版狀態Published - 1994 一月 1

指紋

Manipulators

All Science Journal Classification (ASJC) codes

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

引用此文

Fallahi, B. ; Lai, Steven Hsin-Yi ; Naghibi, R. ; Wang, Y. / A study of the workspace of five-bar closed loop manipulator. 於: Mechanism and Machine Theory. 1994 ; 卷 29, 編號 5. 頁 759-765.
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A study of the workspace of five-bar closed loop manipulator. / Fallahi, B.; Lai, Steven Hsin-Yi; Naghibi, R.; Wang, Y.

於: Mechanism and Machine Theory, 卷 29, 編號 5, 01.01.1994, p. 759-765.

研究成果: Article

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