A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications

Mazen Zein (1) , Philippe Wenger (1) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. Then a new performance index based on the RDW is introduced, the isocontours of this index are plotted in the parameter space of the interesting types of manipulators and finally an inspection of the domains of the parameter spaces is conducted in order to identify the better manipulator architectures. The RDW is a part of the workspace whose shape is regular (cube, cylinder) and the performances (conditioning index) are bounded inside. The groups of 3R orthogonal manipulators studied have interesting kinematic properties such as, a well-connected workspace that is fully reachable with four inverse kinematic solutions and that does not contain any void. This study is of high interest for the design of alternative manipulator geometries.

Mots clés: Regular Dextrous Workspace; design parameter conditioning; parameter space

Domaines: Robotique [cs.RO]

Mazen Zein, Philippe Wenger, Damien Chablat. A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications. Mar 2007, Monastir, Tunisia. pp.1-8. ⟨hal-00162690⟩