A family of planar parallel manipulators

Isaksson, Mats 2011, A family of planar parallel manipulators, in ICRA 2011 : IEEE International Conference on Robotics and Automation : Better Robots, Better Life, IEEE, [Shanghai, China], pp. 2737-2744.

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Title A family of planar parallel manipulators
Author(s) Isaksson, Mats
Conference name IEEE International Conference of Robotics and Automation (2011 : Shanghai, China)
Conference location Shanghai, China
Conference dates 9 -13 May 2011
Title of proceedings ICRA 2011 : IEEE International Conference on Robotics and Automation : Better Robots, Better Life
Editor(s) [Unknown]
Publication date 2011
Conference series IEEE International Conference of Robotics and Automation
Start page 2737
End page 2744
Publisher IEEE
Place of publication [Shanghai, China]
Keyword(s) actuators
equations
Jacobian matrices
joints
kinematics
manipulators
Summary A family of planar parallel manipulators is investigated and some novel members are proposed. The common feature of the studied manipulators is that the rotation axes of the actuated arms coincide. This feature makes it possible to rotate the whole arm system an infinite number of revolutions around the center of the manipulator. The result is a large workspace in relation to the footprint. Both 2- and 3-DOF variants are presented and the suitability of this family of manipulators for kinematic analysis is demonstrated. Thus, different methods to find optimal manipulability with respect to platform positioning and rotation have been analyzed.
ISBN 9781612843865
9781612843803
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2011, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042218

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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