Design of a singularity-free articulated arm subassembly

Journal Article · Wed Dec 01 00:00:00 EST 1993 · IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/70.265924· OSTI ID:5076695

Remis, S J; Stanisic, M M ^[1]

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1. Univ. of Notre Dame, IN (United States). Aerospace and Mechanical Engineering Dept.

Adding a redundant degree of freedom to the shoulder pointing system complex of an articulated arm subassembly makes it possible to achieve a maximal workspace that is free of singularities. This paper derives a functional constraint between three of the four joints of this new type of arm, achieving a singularity-free workspace encompassing the entire reachable volume between the maximal- and minimal-reach surfaces. The large volume of dexterous workspace is verified by animation of the resulting arm design. Graphical results from the animation are presented comparing the dexterous workspace of this new arm to that of the standard nonredundant articulated arm subassembly such as found in the Puma manipulator.

• OSTI ID: 5076695
• Journal Information: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Vol. 9:6; ISSN 1042-296X
• Country of Publication: United States
• Language: English

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