Journal of Mechanical Design · 1995 · 84 citations · 8 references
EngineeringMechanical EngineeringRobotics EngineeringRobot DesignRobot KinematicsRoboticsDifferential KinematicsInverse KinematicsKinematic ChainsKinematic ModelingManipulator DesignWorkspace AnalysisKinematic Synthesis Of RoboticsManipulator Geometry SynthesisManipulator KinematicsManipulator Workspace AnalysisRobot Manipulator Equations Of MotionRobot Workspace AnalysisWorkspace BoundariesWorkspace Boundary Analysis
A new synthesis algorithm for general three-revolute open chain manipulators is proposed making use of an algebraic formulation for the workspace boundary. This algebraic form of a synthesis model is used to formulate design equations and to discuss the number and the type of the multiple solutions.
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