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Improving the kinematic performance of the SCARA-Tau PKM

Isaksson, Mats, Brogardh, Torgny, Lundbert, Ivan and Nahavandi, Saeid 2010, Improving the kinematic performance of the SCARA-Tau PKM, in ICRA 2010 : Proceedings of the IEEE International Conference on Robotics and Automation - 50 years of Robotics, IEEE, Piscataway, N.J., pp. 4683-4690, doi: 10.1109/ROBOT.2010.5509840.

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Title Improving the kinematic performance of the SCARA-Tau PKM
Author(s) Isaksson, Mats
Brogardh, Torgny
Lundbert, Ivan
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Conference name IEEE International Conference on Robotics and Automation (2010 : Anchorage, Alaska)
Conference location Anchorage, Ak.
Conference dates 3-8 May 2010
Title of proceedings ICRA 2010 : Proceedings of the IEEE International Conference on Robotics and Automation - 50 years of Robotics
Editor(s) [Unknown]
Publication date 2010
Conference series International Conference on Robotics and Automation
Start page 4683
End page 4690
Total pages 8
Publisher IEEE
Place of publication Piscataway, N.J.
Summary One well acknowledged drawback of traditional parallel kinematic machines (PKMs) is that the ratio of accessible workspace to robot footprint is small for these structures. This is most likely a contributing reason why relatively few PKMs are used in industry today. The SCARA-Tau structure is a parallel robot concept designed with the explicit goal of overcoming this limitation and developing a PKM with a workspace similar to that of a serial type robot of the same size. This paper shows for the first time how a proposed variant of the SCARA-Tau PKM can improve the usability of this robot concept further by significantly reducing the dependence between tool platform position and orientation of the original concept. The inverse kinematics of the proposed variant is derived and a comparison is made between this structure and the original SCARA-Tau concept, both with respect to platform orientation changes and workspace.
Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
ISBN 1424450381
9781424450381
ISSN 1050-4729
Language eng
DOI 10.1109/ROBOT.2010.5509840
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 861403 Industrial Machinery and Equipment
HERDC Research category E1 Full written paper - refereed
HERDC collection year 2010
Copyright notice ©2010, IEEE
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031145

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.