Title

Classification and Analysis of Robot Swept Volumes

Abstract

The sweep differential equation approach is used to classify the swept volumes of robot links in two and three dimensions. Equations for general sweeps are derived with the use of homogeneous matrix for representing the position and orientation of an object. From these equations the corresponding sweep differential equations are obtained. The tangency condition is used to classify the swept volume of a link element into type I or type II swept volume. A number of examples illustrating these two types of swept volumes of robot link elements are presented.

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Classification (Of Information); Differential Equations; Robotic Arms

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1992 American Society of Mechanical Engineers (ASME), All rights reserved.

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