Designing a Parallel Manipulator for a Specific Workspace
- 1 August 1997
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 16 (4), 545-556
- https://doi.org/10.1177/027836499701600407
Abstract
We present an algorithm to determine all the possible ge ometries of Gough-type 6-DOF parallel manipulators whose workspace must include a desired workspace. This desired workspace is a set of geometric objects, limited here to points and segments, which describes the desired locations of the cen ter of the moving platform. It is assumed that the orientation of the platform is fixed for each given object. This algorithm takes into account the leg-length limits, the mechanical limits on the passive joints, and interference between links.Keywords
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