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Determination of parameters of 3-dof spatial orientation manipulators for a specified workspace

A. Kosinska, M. Galicki,K. Kedzior

ROBOTICA（2003）

Cited 8|Views0
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Abstract
The objective of the paper is to present a method of designing geometrical parameters of 3-dof orientation mechanisms. The parameters are to be determined for a given workspace, which in this case is described as a set of angles of orientation. An algorithm is presented, based on the equations of constraints which makes it possible to obtain the parameters of a manipulator. whose workspace involves the specified taskspace.
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Key words
3-dof orientation mechanism,specified taskspace,geometrical parameter,3-dof spatial orientation manipulator,specified workspace
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