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 |
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Pages (from-to) | 375-396 |
Number of pages | 22 |
Journal | Mechanism and Machine Theory |
Volume | 28 |
Issue number | 3 |
DOIs | |
Publication status | Published - May 1993 |
ASJC Scopus subject areas
- Bioengineering
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications