A NEW ANALYSIS OF WORKSPACE PERFORMANCES AND ORIENTATION CAPABILITY FOR 3-DOF PLANAR MANIPULATORS

摘要

A systematic study is performed for the workspace characteristics and orientation capability analysis of 3R planar manipulators. This study will aid the design and control of this kind of manipulators. This particular manipulator is well suited for industrial applications in aided automation manufacturing as well as medical applications for orthopaedic surgery robotics and micro holder for tactile sensing fingers. Based on the characteristics chart method proposed for closed-loop chains in former work (W.Z.