Workspace analysis of realistic elbow and dual-elbow robot manipulators

Dimitrios M. Emiris, Vassilios D. Tourassis

Research output: Contribution to journalArticle

13 Citations (Scopus)

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 languageEnglish
Pages (from-to)375-396
Number of pages22
JournalMechanism and Machine Theory
Volume28
Issue number3
DOIs
Publication statusPublished - 1993
Externally publishedYes

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Manipulators
Robots
Geometry
Mach number
Robotics

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 journalArticle

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