Novel 6-DOF parallel manipulator with large workspace
نویسندگان
چکیده
The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of the robot itself—which is not common in parallel robots. The inverse and forward kinematics of the robots are presented. The workspaces of the robots are compared to similar and well-known structures, such as Eclipse, Alizade, Delta, and Hexa robots.
منابع مشابه
Design and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator
This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...
متن کاملDexterous Workspace Shape and Size Optimization of Tricept Parallel Manipulator
This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...
متن کاملSingularity Analysis of Indigenously Developed 6-dof Sps Parallel Manipulator in Its Calculated Workspace
Striving for greater accuracy and greater performance, some machine manufactures are developing parallel structure for the next generation machine. This necessarties that these machines need to be analyzed for the effects of existing singularities inside or boundary of evaluated workspace of indigenously developed 6-DoF SPS (S: Spherical, P: Prismatic) parallel manipulator here in Bhabha atomic...
متن کاملDynamic Coupling Analysis of a Spatial 6-DOF Electro-Hydraulic Parallel Manipulator Using a Modal Decoupling Method
The workspace of a spatial 6‐DOF electro‐ hydraulic parallel manipulator is strongly coupled, due to its multi‐closed‐loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6‐DOF parallel manipulator, using modal decouplin...
متن کاملParallel Manipulators with a Rotation-Symmetric Arm System
Parallel manipulators with a rotation-symmetric arm system possess all the typical advantages of parallel robots, such as high acceleration and high-accuracy positioning. Contrary to the majority of proposed parallel manipulators, the rotation-symmetric arm system leads to a large workspace in relation to the footprint of the manipulator. This paper focuses on a subclass of these manipulators w...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Robotica
دوره 27 شماره
صفحات -
تاریخ انتشار 2009