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Designing a Parallel Manipulator for a Specific Workspace

  • Conference paper
Computational Kinematics ’95

Part of the book series: Solid Mechanics and Its Applications ((SMIA,volume 40))

Abstract

We present an algorithm to determine all the possible locations of the attachment points of a Gough-type parallel manipulator which has to reach a desired workspace. This workspace is described by a set of segments which defines the location of a specific point of the moving platform, the platform orientation being kept constant. This algorithm takes into account the leg length limits, the mechanical limits on the passive joints and interference between links.

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References

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Author information

Authors and Affiliations

  1. INRIA, BP 93, 06902, Sophia-Antipolis, France

    J-P. Merlet

Authors
  1. J-P. Merlet
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Editor information

Editors and Affiliations

  1. Institut National de Recherche en Informatique et en Automatique, Sophia Antipolis, France

    Jean-Pierre Merlet

  2. Department of Mechanical Engineering, University of California, Davis, California, USA

    Bahram Ravani

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© 1995 Springer Science+Business Media Dordrecht

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Merlet, JP. (1995). Designing a Parallel Manipulator for a Specific Workspace. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_21

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  • DOI: https://doi.org/10.1007/978-94-011-0333-6_21

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-010-4147-8

  • Online ISBN: 978-94-011-0333-6

  • eBook Packages: Springer Book Archive

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