Abstract
The geometry of the robotic structure directly influences the positional and orientational capabilities of a manipulator. Among the existing robot geometries, the ideal elbow and dual-elbow manipulators are known to provide the maximum reachable and dextrous workspaces for a given total link length. Despite the fact that the ideal dual-elbow manipulators share the basic properties of the ideal-elbow manipulators, they have received scant attention in the literature. In a companion paper [Mech. Mach. Theory 28, 357-373 (1993)], the ideal elbow and dual-elbow geometries have been thoroughly studied. In this paper, realistic elbow and dual-elbow geometries, incorporating designed deviations from the ideal case and unavoidable manufacturing errors, are considered. It is shown that practical dual-elbow robots are superior in terms of reachability and dexterity, especially for applications that require a relatively small tool length.
| Original language | English |
|---|---|
| Pages (from-to) | 375-396 |
| Number of pages | 22 |
| Journal | Mechanism and Machine Theory |
| Volume | 28 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 1993 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
Workspace analysis of realistic elbow and dual-elbow robot manipulators. / Emiris, Dimitrios M.; Tourassis, Vassilios D.
In: Mechanism and Machine Theory, Vol. 28, No. 3, 1993, p. 375-396.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Workspace analysis of realistic elbow and dual-elbow robot manipulators
AU - Emiris, Dimitrios M.
AU - Tourassis, Vassilios D.
PY - 1993
Y1 - 1993
N2 - The geometry of the robotic structure directly influences the positional and orientational capabilities of a manipulator. Among the existing robot geometries, the ideal elbow and dual-elbow manipulators are known to provide the maximum reachable and dextrous workspaces for a given total link length. Despite the fact that the ideal dual-elbow manipulators share the basic properties of the ideal-elbow manipulators, they have received scant attention in the literature. In a companion paper [Mech. Mach. Theory 28, 357-373 (1993)], the ideal elbow and dual-elbow geometries have been thoroughly studied. In this paper, realistic elbow and dual-elbow geometries, incorporating designed deviations from the ideal case and unavoidable manufacturing errors, are considered. It is shown that practical dual-elbow robots are superior in terms of reachability and dexterity, especially for applications that require a relatively small tool length.
AB - The geometry of the robotic structure directly influences the positional and orientational capabilities of a manipulator. Among the existing robot geometries, the ideal elbow and dual-elbow manipulators are known to provide the maximum reachable and dextrous workspaces for a given total link length. Despite the fact that the ideal dual-elbow manipulators share the basic properties of the ideal-elbow manipulators, they have received scant attention in the literature. In a companion paper [Mech. Mach. Theory 28, 357-373 (1993)], the ideal elbow and dual-elbow geometries have been thoroughly studied. In this paper, realistic elbow and dual-elbow geometries, incorporating designed deviations from the ideal case and unavoidable manufacturing errors, are considered. It is shown that practical dual-elbow robots are superior in terms of reachability and dexterity, especially for applications that require a relatively small tool length.
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UR - http://www.scopus.com/inward/citedby.url?scp=0027589805&partnerID=8YFLogxK
U2 - 10.1016/0094-114X(93)90077-9
DO - 10.1016/0094-114X(93)90077-9
M3 - Article
VL - 28
SP - 375
EP - 396
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
SN - 0374-1052
IS - 3
ER -