Abstract
An analytical method to evaluate time zones of interference for a dual-arm robot is presented with the consideration of shape and volume of links in the case, when the robot arms move along two given continuous trajectories in three-dimensional space respectively. The formulations and criteria to determine interference zones are derived. The method is applicable to general dual-arm robots with not only revolute joints, but also prismatic joints. A numerical example is presented for illustration.
Volume Subject Area:
21st Design Automation Conference
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Copyright © 1995 by The American Society of Mechanical Engineers
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