In this paper a numerical solution is proposed for designing telescopic manipulators when workspace is prescribed through few suitable points. An algorithm is outlined by using an algebraic formulation for the workspace boundary and numerical solution is worked out by using a Newton–Raphson technique to solve a proper design problem. Numerical examples are reported to discuss computational efforts and solution characteristics.

Robotics and Computer-Integrated Manufacturing

CECCARELLI, Marco
2014-01-01

Abstract

In this paper a numerical solution is proposed for designing telescopic manipulators when workspace is prescribed through few suitable points. An algorithm is outlined by using an algebraic formulation for the workspace boundary and numerical solution is worked out by using a Newton–Raphson technique to solve a proper design problem. Numerical examples are reported to discuss computational efforts and solution characteristics.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11580/30643
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