@inproceedings{0eee4b3205f44306ad4f181a9b0da35e,
title = "A New Index for the Evaluation of Mechanism Workspace: Application to Six-DoF Architectures",
abstract = "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.",
keywords = "Hybrid mechanism, Planar mechanism, Tripod mechanism, Workspace analysis",
author = "Christopher Reinaldo and Terence Essomba and Latifah Nurahmi",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.; 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 ; Conference date: 05-11-2023 Through 09-11-2023",
year = "2023",
doi = "10.1007/978-3-031-45705-0_69",
language = "???core.languages.en_GB???",
isbn = "9783031457043",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "713--720",
editor = "Masafumi Okada",
booktitle = "Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1",
}