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On the workspace of telescopic manipulators

Published online by Cambridge University Press:  05 April 2001

Marco Ceccarelli
Marco Ceccarelli
Affiliation:
Dipartimento di Ingegneria Industriale, Università di Cassino, Via Di Biasio 43, 03043 CASSINO (FR), Italy
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Abstract

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An analytical procedure is proposed for determining the workspace boundary of general telescopic manipulators. The algorithm has been developed by using the Theory of Envelopes providing an algebraic formulation. An analysis of the workspace of telescopic chain has been carried out to emphasize on a general topology and to investigate the effect of link parameters and telescopic stroke.

Keywords

Telescopic manipulatorsWorkspaceTheory of Envelopes

Information

Type
Research Article
Information
Robotica , Volume 16 , Issue 6 , November 1998, pp. 691 - 696
Copyright
© 1998 Cambridge University Press