On the workspace of telescopic manipulators

Authors
Ceccarelli, M
Citation
M. Ceccarelli, On the workspace of telescopic manipulators, ROBOTICA, 16, 1998, pp. 691-696
Citations number
19
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
ROBOTICA
ISSN journal
02635747 → ACNP
Volume
16
Year of publication
1998
Part
6
Pages
691 - 696
Database
ISI
SICI code
0263-5747(199811/12)16:<691:OTWOTM>2.0.ZU;2-F
Abstract
An analytical procedure is proposed for determining the workspace boundary of general telescopic manipulators, The algorithm has been developed by usi ng 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 tele scopic stroke.