407 research outputs found
A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications
This paper proposes a method to calculate the largest Regular Dextrous
Workspace (RDW) of some types of three-revolute orthogonal manipulators that
have at least one of their DH parameters equal to zero. Then a new performance
index based on the RDW is introduced, the isocontours of this index are plotted
in the parameter space of the interesting types of manipulators and finally an
inspection of the domains of the parameter spaces is conducted in order to
identify the better manipulator architectures. The RDW is a part of the
workspace whose shape is regular (cube, cylinder) and the performances
(conditioning index) are bounded inside. The groups of 3R orthogonal
manipulators studied have interesting kinematic properties such as, a
well-connected workspace that is fully reachable with four inverse kinematic
solutions and that does not contain any void. This study is of high interest
for the design of alternative manipulator geometries
Robotization of hand woven carpet technology process
Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2008Includes bibliographical references (leaves: 85-91)Text in English; Abstract: Turkish and Englishxi, 96 leavesThis thesis covers a study on the structural design of new overconstrained mechanisms and manipulators and their application to the robotization of hand woven carpet technology process.Moreover, recurrent vector equations are investigated for the synthesis of linkages, and used for the design of new mechanisms with linear-angular conditions in the subspace with general constraint one. These conditions are generalized for defining the structural groups of subspace ..5 and these structural groups are used both for the creation of new parallel manipulators and new serial-parallel platform manipulators.After investigating hand woven carpets, the knowledge gained during the structural design of mechanisms is applied to the robotization of hand woven carpet technology process. Finally, design of carpet weaving robot is introduced
A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace
International audienceA classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters space is shown to be divided into nine domains of distinct workspace topologies, in which all manipulators have similar global kinematic properties. Each separating surface is given as an explicit expression in the DH-parameters
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