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Determination of parameters of 3-dof spatial orientation manipulators for a specified workspace

Published online by Cambridge University Press:  26 February 2003

A. Kosinska ,
M. Galicki  and
K. Kedzior
A. Kosinska
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul. Nowowiejska 24, 00-665 Warsaw (Poland).
M. Galicki
Affiliation:
Technical University of Zielona Gora, Dept. of Organisation Prod. Systems, ul. Podgorna 50, 54-246 Zielona Gora (Poland).
K. Kedzior
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul. Nowowiejska 24, 00-665 Warsaw (Poland).
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Abstract

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The objective of the paper is to present a method of designing geometrical parameters of 3-dof orientation mechanisms. The parameters are to be determined for a given workspace, which in this case is described as a set of angles of orientation. An algorithm is presented, based on the equations of constraints which makes it possible to obtain the parameters of a manipulator. whose workspace involves the specified taskspace.

Keywords

KinematicsParallel manipulatorsWorkspaceDesigning
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 179 - 183
Copyright
© 2003 Cambridge University Press