Computational Kinematics by Saïd Zeghloul Lotfi Romdhane & Med Amine Laribi

Author:Saïd Zeghloul, Lotfi Romdhane & Med Amine Laribi
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

Optimization 1 with :

We obtain the design parameter vector:

Figure 3 shows the dexterity distribution in the workspace. The maximum dexterity value is 0.42 with a mean value of 0.2127. The desired workspace, represented in yellow on the Fig. 4, is completely reachable and is free of singularities.

Fig. 3.Dexterity distribution for

Fig. 4.Workspace for . (Color figure online)

Other self rotation angles were tested with the resulting manipulator, for a value of we have the workspace in Fig. 5. We notice the reduction of the manipulator workspace size which affects the prescribed workspace accessibility and the appearance of a consistent singularity zone (in red) in the center of the workspace.

Fig. 5.Workspace for . (Color figure online)

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