论文信息 - The effect of link parameter on the working space of general 3R robot arms

The effect of link parameter on the working space of general 3R robot arms

Abstract This paper will consider a robot into two parts: “regional structure” and “orientational structure”. The regional structure contributes the gross motion of the robot hand, and the orientational structure contributes the orientation of the robot hand. By studying the effects of kinematic parameters on the general 3R robots, the optimum regional structure and the optimum orientational structure are arrived in this paper.

A. H. Soni | A. H. Soni | Ying-Chien Tsai | Y. Tsai

[1] A. Morecki,et al. Theory and Practice of Robots and Manipulators , 1985 .

[2] Thomas B Sheridan. Performance evaluation of programmable robots and manipulators , 1976 .

[3] Kenneth J. Waldron,et al. The Workspaces of a Mechanical Manipulator , 1981 .

[4] K. Sugimoto,et al. Determination of Extreme Distances of a Robot Hand. Part 2: Robot Arms With Special Geometry , 1981 .

[5] Ying-Chien Tsai,et al. Accessible Region and Synthesis of Robot Arms , 1981 .

[6] K. Sugimoto,et al. Determination of Extreme Distances of a Robot Hand—Part 1: A General Theory , 1981 .

[7] K. H. Hunt,et al. The fecund torus, its bitangent-circles and derived linkages , 1975 .