Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
- 2000.11a
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- Pages.795-800
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- 2000
Analysis of the Workspace of Cubic Parallel Manipulator
육면형 병렬기구의 작업공간 해석
- Published : 2000.11.02
Abstract
In a parallel manipulator, there are three constraints that determine workspace: link length constraint, passive joint angle constraint, and interference among links. Generally, the link length constraint is the most dominant. The interference among links is, however, also an important parameter in designing a desired parallel manipulator. In this study, the interference among links is mathematically modeled by considering the links as a line and a cylinder of radius of twice the link radius, and a new algorithm is suggested to check if arbitrary two links interfere each other or not. The workspace of a cubic parallel manipulator is illustrated in a 2D space satisfying the three constraints.
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