Gross motion and classification of manipulators with closed-loop, four-bar chains

Journal Article · Mon Jun 01 00:00:00 EDT 1992 · International Journal of Robotics Research; (United States)

DOI:https://doi.org/10.1177/027836499201100306· OSTI ID:7164021

Ting, Kwun-Lon ^[1]

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1. Tennessee Technological Univ., Cookeville (United States)

This article presents an extensive study on the gross motion of 2-DOF manipulators with closed-loop, four-bar chains. The investigation is focused on (1) classification, (2) work space and sub-work space, (3) existence of singular circles, (4) number of postures and service angles, and (5) the effects of the orientation of the wrist on the floating link. One may find that closed-loop manipulators are not only lightweight, they can also provide better kinematic properties in view of work space, singularity, postures, and service angles.

• OSTI ID: 7164021
• Journal Information: International Journal of Robotics Research; (United States), Vol. 11:3; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
MANIPULATORS
MOTION
DEGREES OF FREEDOM
KINETICS
MOTORS
ORIENTATION
PERFORMANCE
TRAJECTORIES
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
420200* - Engineering- Facilities
Equipment
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