Whenever a manipulator is assigned the repetitive task of moving a point of its end-effector through a limited number of prescribed positions in space, it might be possible to endow it with two degrees of freedom only - instead of the canonical minimum of three - on the condition that the base of the manipulator is suitably placed in space. This paper shows a procedure to determine the correct rigid-body position of the base of two-degree-of-freedom (2-dof) manipulators - either serial or fully-parallel - in order to enable them to accomplish the above-mentioned task. Numerical examples are reported. © 2005 IEEE.
Positioning the base of spatial 2-dof regional manipulators in order to reach as many arbitrarily-chosen points in space as possible / Innocenti, C.. - 2005:(2005), pp. 587-594. (Intervento presentato al convegno 12th International Conference on Advanced Robotics, 2005. ICAR '05 tenutosi a Seattle, WA, usa nel 2005) [10.1109/ICAR.2005.1507468].
Positioning the base of spatial 2-dof regional manipulators in order to reach as many arbitrarily-chosen points in space as possible
Innocenti C.
2005
Abstract
Whenever a manipulator is assigned the repetitive task of moving a point of its end-effector through a limited number of prescribed positions in space, it might be possible to endow it with two degrees of freedom only - instead of the canonical minimum of three - on the condition that the base of the manipulator is suitably placed in space. This paper shows a procedure to determine the correct rigid-body position of the base of two-degree-of-freedom (2-dof) manipulators - either serial or fully-parallel - in order to enable them to accomplish the above-mentioned task. Numerical examples are reported. © 2005 IEEE.
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