On the optimal kinematic design of spherical and spatial mechanisms
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1530-1535
- https://doi.org/10.1109/robot.1991.131833
Abstract
The optimal kinematic design of spherical and spatial mechanisms for dexterity and workspace volume is addressed. The concept of dexterity used is based on the distortion measure of harmonic mappings which is defined in a natural, coordinate-invariant way. The author analyzes the performance of robotic wrists with respect to these kinematic criteria, and determines the optimal link lengths for a simple two-link, 3R spatial open chain. In addition, he compares the kinematic dexterity of three redundant 7R open chains.Keywords
This publication has 2 references indexed in Scilit:
- Harmonic maps and the optimal design of mechanismsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Harmonic Mappings of Riemannian ManifoldsAmerican Journal of Mathematics, 1964