Reachable workspace of two planar 3R cooperating manipulators
Conference
·
OSTI ID:6155944
The issue of having adjacent manipulators cooperate with each other in performing a given task has received increasingly more attention over the past few years. These manipulators could be on a manufacturing line, perhaps the legs of a walking machine, or even the fingers of a mechanical hand. In each case, the same type of geometric and kinematic analysis can apply. In this paper the reachable workspace associated with such a manipulator pair is addressed. By way of example, two planar 3R robots operating in tandem are used. This then provides a foundation for extension to other types of planar and spatial manipulators.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (USA); Florida Univ., Gainesville (USA). Center for Intelligent Machines and Robotics
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 6155944
- Report Number(s):
- SAND-87-0810C; CONF-870852-2; ON: DE87007863
- Country of Publication:
- United States
- Language:
- English
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