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. Attached Files Name Description MIMEType Size Downloads nahavandi-improvingthe-2010.pdf Published version application/pdf 5.44MB 1978 Title Improving the kinematic performance of the SCARA-Tau PKM Author(s) Isaksson, Mats Brogardh, Torgny Lundbert, Ivan 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 Open Access Collection Related Links Link Description Connect to published version (resctricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. 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. Versions Version Filter Type Fri, 12 Nov 2010, 14:27:46 EST Fri, 12 Nov 2010, 14:32:38 EST Wed, 17 Nov 2010, 09:34:22 EST Wed, 17 Nov 2010, 10:15:27 EST Wed, 17 Nov 2010, 10:40:06 EST Wed, 17 Nov 2010, 10:41:27 EST Wed, 17 Nov 2010, 10:42:09 EST Wed, 17 Nov 2010, 10:44:18 EST Fri, 16 Mar 2012, 18:20:52 EST Fri, 05 Apr 2013, 11:19:10 EST Wed, 02 Jul 2014, 15:53:15 EST Tue, 12 Aug 2014, 08:30:23 EST Tue, 06 Sep 2016, 16:03:01 EST Tue, 05 Dec 2017, 10:44:26 EST Fri, 07 Sep 2018, 15:07:45 EST Filtered Full Citation counts:   Cited 12 times in TR Web of Science Cited 12 times in Scopus Search Google Scholar Access Statistics: 790 Abstract Views, 2755 File Downloads  -  Detailed Statistics Created: Fri, 12 Nov 2010, 14:27:39 EST by Sandra Dunoon

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.