Robotic manipulators with more than three Degrees of Freedom (DoF) necessarily have both linear and angular workspaces. For a given set of coordinates in one workspace, there is a variable range of available coordinates in the other workspace. There is a set of linear coordinates from which most mechanisms will have their angular workspace decreasing while moving away from it. In some application, it is important for the mechanism to minimize the angular workspace deterioration while navigating along a trajectory for example. A new index is formulated to measure the workspace variation. It is tested on two different versions of a hybrid mechanism with six DoF made of planar and tripod mechanisms. The use of the workspace gradient allows comparing their ability to maintain a workspace while navigating in the other.
|Title of host publication
|Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1
|Springer Science and Business Media B.V.
|Number of pages
|Published - 2023
|16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan
Duration: 5 Nov 2023 → 9 Nov 2023
|Mechanisms and Machine Science
|16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
|5/11/23 → 9/11/23
- Hybrid mechanism
- Planar mechanism
- Tripod mechanism
- Workspace analysis