Paper Info
Title
Articular velocities of parallel manipulators. II. Finding all the robots with fixed extremal articular velocity for performing a fixed cartesian velocity over a whole workspace
Abstract
This paper presents an algorithm for finding all the possible parallel robot geometries such that the end effector may perform a given translation velocity for any location of the end-effector in a given workspace, the constraint being that the actuator velocities should be always lower than a given bound. All these possible geometries are defined by a region in a particular design parameters space. This algorithm should be useful for the optimal design of parallel robots
Year
DOI
Venue
1997
10.1109/ROBOT.1997.606786
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference
Keywords
Field
DocType
manipulator kinematics,fixed cartesian velocity,fixed extremal articular velocity,optimal design,parallel manipulators,robots
Parallel manipulator,Control theory,Workspace,Robot kinematics,Robot end effector,Control engineering,Optimal design,Robot,Mathematics,Actuator,Cartesian coordinate system
Conference
Volume
Issue
ISSN
4
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-3612-7
1
0.43
References 
Authors
1
1
Name
Order
Citations
PageRank
Jean-pierre Merlet1819100.43