Details
| Original language | English |
|---|---|
| Title of host publication | Springer Tracts in Advanced Robotics |
| Publisher | Springer Verlag |
| Pages | 175-189 |
| Number of pages | 15 |
| Publication status | Published - 1 Jan 2011 |
| Externally published | Yes |
Publication series
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Volume | 67 |
| ISSN (Print) | 1610-7438 |
| ISSN (electronic) | 1610-742X |
Abstract
In order to facilitate a wider use of parallel robots and to make use of their inherent advantages, the drawbacks to these structures, such as singularities in the workspace or the small ratio of workspace to installation space, need to be diminished. The latter can be tackled using an approach presented in this article. An overall workspace, which is substantially larger than the original one, can be obtained by using several robot-configurations corresponding to different working and assembly modes (different solutions of the inverse and direct kinematic problem). The general procedure to change between the configurations requires the passing through singularities and is described exemplarily first for a simple planar manipulator and subsequently for a more complex spatial parallel structure.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
Cite this
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Springer Tracts in Advanced Robotics. Springer Verlag, 2011. p. 175-189 (Springer Tracts in Advanced Robotics; Vol. 67).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Configuration switching for workspace enlargement
AU - Budde, Christoph
AU - Helm, Manfred
AU - Last, Philipp
AU - Raatz, Annika
AU - Hesselbach, Jürgen
N1 - Funding information:. This work was funded by the German Research Foundation (DFG) within the framework of the Collaborative Research Center SFB 562: Robotic Systems for Handling and Assembly.
PY - 2011/1/1
Y1 - 2011/1/1
N2 - In order to facilitate a wider use of parallel robots and to make use of their inherent advantages, the drawbacks to these structures, such as singularities in the workspace or the small ratio of workspace to installation space, need to be diminished. The latter can be tackled using an approach presented in this article. An overall workspace, which is substantially larger than the original one, can be obtained by using several robot-configurations corresponding to different working and assembly modes (different solutions of the inverse and direct kinematic problem). The general procedure to change between the configurations requires the passing through singularities and is described exemplarily first for a simple planar manipulator and subsequently for a more complex spatial parallel structure.
AB - In order to facilitate a wider use of parallel robots and to make use of their inherent advantages, the drawbacks to these structures, such as singularities in the workspace or the small ratio of workspace to installation space, need to be diminished. The latter can be tackled using an approach presented in this article. An overall workspace, which is substantially larger than the original one, can be obtained by using several robot-configurations corresponding to different working and assembly modes (different solutions of the inverse and direct kinematic problem). The general procedure to change between the configurations requires the passing through singularities and is described exemplarily first for a simple planar manipulator and subsequently for a more complex spatial parallel structure.
UR - http://www.scopus.com/inward/record.url?scp=84901324126&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-16785-0_11
DO - 10.1007/978-3-642-16785-0_11
M3 - Contribution to book/anthology
AN - SCOPUS:84901324126
T3 - Springer Tracts in Advanced Robotics
SP - 175
EP - 189
BT - Springer Tracts in Advanced Robotics
PB - Springer Verlag
ER -