{"title":"Kinematic analysis and workspace determination of a 6 dof ckcm robot end-effector","authors":"Charles C. Nguyen , Farhad J. Pooran","doi":"10.1016/0378-3804(89)90038-7","DOIUrl":null,"url":null,"abstract":"<div><p>This paper presents the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on the link constraints. Computer simulation results are presented.</p></div>","PeriodicalId":100801,"journal":{"name":"Journal of Mechanical Working Technology","volume":"20 ","pages":"Pages 283-294"},"PeriodicalIF":0.0000,"publicationDate":"1989-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/0378-3804(89)90038-7","citationCount":"63","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanical Working Technology","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/0378380489900387","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 63
Abstract
This paper presents the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on the link constraints. Computer simulation results are presented.
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