Designing a parallel manipulator for a specific workspace

Jean-Pierre Merlet 1
1 PRISME - Geometry, Algorithms and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : We present an algorithm to determine all the possible geometries of Gough-type 6 D.O.F. parallel manipulators whose workspace has to include a desired workspace. This desired workspace is described by a set of geometric objects, limited here to points, segments and spheres, describing the location of the center of the moving platform, the orientation of the platform being kept constant for each given object. This algorithm takes into account the leg length limits, the mechanical limits on the passive joints and interference between links.
Type de document :
Rapport
RR-2527, INRIA. 1995
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https://hal.inria.fr/inria-00074152
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Soumis le : mercredi 24 mai 2006 - 14:37:40
Dernière modification le : jeudi 11 janvier 2018 - 16:40:59
Document(s) archivé(s) le : mardi 12 avril 2011 - 15:31:12

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  • HAL Id : inria-00074152, version 1

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Jean-Pierre Merlet. Designing a parallel manipulator for a specific workspace. RR-2527, INRIA. 1995. 〈inria-00074152〉

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