The design of isotropic redundant manipulators

• Main Author: 王志偉
• Other Authors: 蔡高岳
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/13868057647127529848

碩士 === 國立臺灣科技大學 === 機械工程系 === 92 === 　　This paper proposes a general method to develop n-DOF serial isotropic manipulators. The parameters of 6-DOF isotropy generators are used as the initial values in a numerical method to get redundant isotropic generators. Additional constraint equations are then added, with the parameters of the obtained generators as initial values, to get the isotropic generators with special parameters. Each generator can be developed into many isotropic designs with special or desired link parameters. Two different approaches of developing near isotropic manipulators are also investigated. The first one develops manipulator that can attain more isotropic configurations while the other one finds the designs with more desired link parameters.