Numerical design solutions for telescopic manipulators
Resumen: This paper proposes a design procedure for telescopic manipulators including a numerical solution when workspace is prescribed through few suitable points. An algebraic formulation for the workspace boundary is developed according to the analysis of the kinematic chain. Furthermore, a design algorithm is established by using those formulations and numerical solution is worked out through a Newton-Raphson tecnique to solve a proper design problems. Numerical examples are reported to discuss computational efforts and solution characteristics.
Autor(es):Madrid, E. y Ceccarelli, M.
Año: 2015
Título de la revista: Interdisciplinary Applications of Kinematics
Ciudad: Cham, Suiza
Página inicial - Página final: 101-108
Url: http://www.springer.com/la/book/9783319107226