Five Precision Point Synthesis of Spatial RRR Manipulators Using Interval Analysis

Eric Lee; Constantinos Mavroidis; Jean Pierre Merlet

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Five Precision Point Synthesis of Spatial RRR Manipulators Using Interval Analysis

机译：基于区间分析的空间RRR机械臂五精度点综合

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In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved for the first time using an interval analysis method. In this problem, five spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these pre-specified locations. Denavit and Hartenberg parameters and 4 X4 homogeneous matrices are used to formulate the problem and obtain the design equations and an interval method is used to search for design solutions within a predetermined domain.

机译：本文首次使用区间分析方法解决了具有三个旋转（R）关节的串行链接机器人操纵器的几何设计问题。在此问题中，定义了五个空间位置和方向，并计算了3-R机械手的几何参数的尺寸，以便机械手可以将其末端执行器放置在这些预先指定的位置。使用Denavit和Hartenberg参数以及4 X4齐次矩阵来表示问题并获得设计方程式，并使用区间法来搜索预定域内的设计解。

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《Journal of Mechanical Design》 |2004年第5期|p.842-849|共8页
作者
Eric Lee; Constantinos Mavroidis; Jean Pierre Merlet;
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作者单位

Robotics and Mechatronics Laboratory, Department of Mechanical and Industrial Engineering, Northeastern University, 375 Snell Engineering Center, 360 Huntington Avenue, Boston, MA, 02115;

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正文语种 eng
中图分类机械设计;
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4. FIVE PRECISION POINTS SYNTHESIS OF SPATIAL RRR MANIPULATORS USING INTERVAL ANALYSIS [C] . Eric Lee, Constantinos Mavroidis, Jean Pierre Merlet 27th Biennial Mechanisms and Robotics Conference . 2002

机译：基于区间分析的空间RRR操纵子五个精度点的合成
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7. Five Precision Points Synthesis Of Spatial Rrr Manipulators Using Interval Analysis [O] . Eric Lee, Constantinos Mavroidis 2002

机译：用区间分析合成空间Rrr机械臂的五个精密点
8. Finite Element Dynamic Analysis of Flexible Spatial Mechanisms and Manipulators [R] . Jonker, B. 1988

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Five Precision Point Synthesis of Spatial RRR Manipulators Using Interval Analysis

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