A classification of 3R orthogonal manipulators by the topology of their workspace

Abstract

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters… (More)
DOI: 10.1109/ROBOT.2004.1308106

Topics

16 Figures and Tables

Slides referencing similar topics