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Ingeniería Mecánica. Tecnología y Desarrollo 2003, 1 2

Autor: Jorge Angeles

Fuente: http://www.redalyc.org/


Introducción



Ingeniería Mecánica.
Tecnología y Desarrollo ISSN: 1665-7381 fjso@servidor.unam.mx Sociedad Mexicana de Ingeniería Mecánica México Angeles, Jorge The design of a three-axis positioning manipulator for a given reach Ingeniería Mecánica.
Tecnología y Desarrollo, vol.
1, núm.
2, mayo, 2003, pp.
34-40 Sociedad Mexicana de Ingeniería Mecánica Distrito Federal, México Available in: http:--www.redalyc.org-articulo.oa?id=76810201 How to cite Complete issue More information about this article Journals homepage in redalyc.org Scientific Information System Network of Scientific Journals from Latin America, the Caribbean, Spain and Portugal Non-profit academic project, developed under the open access initiative The design of a three-axis positioning manipulator for a given reach ARTÍCULO INVITADO Jorge Angeles McGill University, Department af Mechanical Engineering & Centre for Intelligent Machines 817 Sherbrooke St.
W., Montreal, Quebec H3A 2K6 Canada ABSTRACT The design of most industrial robots for a given reach is straightforward, given their simple architectures.
These robots exhibit, as a rule, an anthropomorphic architecture, whereby one distinguishes the shoulder, the elbow, and the wrist.
The design then breaks down into that of what is called the regional architecture, composed of the shoulder and the elbow, and that of the local architecture, composed of the wrist.
In these cases, the reach is computed simply as the distance between the first axis and the wrist center, when the robot is postured at its fully-extended singularity.
Shown in this paper is the case of a non-anthropomorphic architecture that admits four inverse kinematics solutions and whose architecture calls for an optimization procedure to find its reach.
The problem leads to an algebraic system of two equations, one quartic and one cubic.
It is shown graphically that the problem admits four real solutions, two local maxima and two local minima.
Moreover, by means of an eliminatio...





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