A new synthesis algorithm for general three-revolute open chain manipulators is proposed making use of an algebraic formulation for the workspace boundary. This algebraic form of a synthesis model is used to formulate design equations and to discuss the number and the type of the multiple solutions.
Issue Section:
Research Papers
1.
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2.
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3.
Ceccarelli
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Mata
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Valero
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1994
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.4.
Freudenstein
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1984
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.5.
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.6.
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.7.
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Fardanesh
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1990
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,” ASME JOURNAL OF MECHANICAL DESIGN
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.8.
Roth, B., 1986a, “Analytic Design of Open Chains,” Proceedings of the Third International Symposium on Robotics Research, MIT Press, pp. 281–288.
9.
Roth, B., 1986b, “Analytical Design of Two-Revolute Open Chains,” Preprints of the Sixth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Cracow, pp. 180–187.
10.
Shimano, B. E., and Roth, B., 1980, “Dimensional Synthesis of Manipulators,” Proceedings of the Third CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Elsevier, pp. 166–187.
11.
Tsai
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Soni
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1985
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.12.
Vijaykumar
R.
Waldron
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Tsai
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1986
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,” The International Journal of Robotics Research
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.13.
Yang
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Lee
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1984
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,” IEEE Transactions on Systems, Man, and Cybernetics
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.
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