Numerical solution for designing telescopic manipulators with prescribed workspace points

Ericka Madrid; Marco Ceccarelli

doi:10.1016/j.rcim.2013.09.013

Numerical solution for designing telescopic manipulators with prescribed workspace points

Ericka Madrid
, Marco Ceccarelli

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

In this paper a numerical solution is proposed for designing telescopic manipulators when workspace is prescribed through few suitable points. An algorithm is outlined by using an algebraic formulation for the workspace boundary and numerical solution is worked out by using a Newton-Raphson technique to solve a proper design problem. Numerical examples are reported to discuss computational efforts and solution characteristics.

Original language	English
Pages (from-to)	201-205
Number of pages	5
Journal	Robotics and Computer-Integrated Manufacturing
Volume	30
Issue number	2
DOIs	https://doi.org/10.1016/j.rcim.2013.09.013
State	Published - 2014
Externally published	Yes

Keywords

Design
Numerical synthesis
Robotic manipulators
Workspace

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10.1016/j.rcim.2013.09.013

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title = "Numerical solution for designing telescopic manipulators with prescribed workspace points",

abstract = "In this paper a numerical solution is proposed for designing telescopic manipulators when workspace is prescribed through few suitable points. An algorithm is outlined by using an algebraic formulation for the workspace boundary and numerical solution is worked out by using a Newton-Raphson technique to solve a proper design problem. Numerical examples are reported to discuss computational efforts and solution characteristics.",

keywords = "Design, Numerical synthesis, Robotic manipulators, Workspace",

author = "Ericka Madrid and Marco Ceccarelli",

year = "2014",

doi = "10.1016/j.rcim.2013.09.013",

language = "English",

volume = "30",

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journal = "Robotics and Computer-Integrated Manufacturing",

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T1 - Numerical solution for designing telescopic manipulators with prescribed workspace points

AU - Madrid, Ericka

AU - Ceccarelli, Marco

PY - 2014

Y1 - 2014

N2 - In this paper a numerical solution is proposed for designing telescopic manipulators when workspace is prescribed through few suitable points. An algorithm is outlined by using an algebraic formulation for the workspace boundary and numerical solution is worked out by using a Newton-Raphson technique to solve a proper design problem. Numerical examples are reported to discuss computational efforts and solution characteristics.

AB - In this paper a numerical solution is proposed for designing telescopic manipulators when workspace is prescribed through few suitable points. An algorithm is outlined by using an algebraic formulation for the workspace boundary and numerical solution is worked out by using a Newton-Raphson technique to solve a proper design problem. Numerical examples are reported to discuss computational efforts and solution characteristics.

KW - Design

KW - Numerical synthesis

KW - Robotic manipulators

KW - Workspace

UR - https://www.scopus.com/pages/publications/84886867533

U2 - 10.1016/j.rcim.2013.09.013

DO - 10.1016/j.rcim.2013.09.013

M3 - Article

AN - SCOPUS:84886867533

SN - 0736-5845

VL - 30

SP - 201

EP - 205

JO - Robotics and Computer-Integrated Manufacturing

JF - Robotics and Computer-Integrated Manufacturing

IS - 2

ER -

Numerical solution for designing telescopic manipulators with prescribed workspace points

Abstract

Keywords

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