Abstract
A new approach to the geometric model and workspace perception is suggested for the study of the 6RSS manipulator. Following the general method of closing equations of the spatial chains, the direct and inverse geometric models are developed. A rigorous analysis of 6-DOF mechanisms is very difficult to undertake because of the impossibility to represent intuitively spaces with six dimensions. Therefore, the six-dimension space is separated into two spaces with three dimensions, i.e. translations space and rotations space. Using specific algorithms, 2D cross-sections of 6D space and intuitive representations of the workspace are obtained, as required in the early design stage. Finally, three examples of separation method are discussed, in relation with the imposed trajectory of the tool in a certain manufacturing process.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
