학술논문
Determining the workspace boundary of 6-DOF parallel manipulators
Document Type
Article
Author
Source
Robotica; September 2006, Vol. 24 Issue: 5 p605-611, 7p
Subject
Language
ISSN
02635747; 14698668
Abstract
The workspace boundary of 6-DOF parallel manipulators is a two-dimensional surface consisting of many patches that can be obtained by solving different sets of four constraint equations. This paper proposes algorithms for finding the equations to generate each patch of the boundary. Methods involving a searching technique are first developed to generate some small subsets of the boundary. The obtained data are then used to predict the equations for generating the rest of the boundary.