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A method for extending planar axis-symmetric parallel manipulators to spatial mechanisms

Isaksson,M, Eriksson,A, Watson,M, Brogårdh,T and Nahavandi,S 2015, A method for extending planar axis-symmetric parallel manipulators to spatial mechanisms, Mechanism and machine theory, vol. 83, pp. 1-13, doi: 10.1016/j.mechmachtheory.2014.08.014.

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Title A method for extending planar axis-symmetric parallel manipulators to spatial mechanisms
Author(s) Isaksson,M
Eriksson,A
Watson,M
Brogårdh,T
Nahavandi,S
Journal name Mechanism and machine theory
Volume number 83
Start page 1
End page 13
Publisher Elsevier
Place of publication Oxford, England
Publication date 2015-01
ISSN 0094-114X
Keyword(s) Axis-symmetric
Linkage substitution
Parallel manipulator
Planar manipulator
Reciprocal screws
Rotation-symmetric
Science & Technology
Technology
Engineering, Mechanical
Engineering
ROBOT
Summary This paper investigates axis-symmetric parallel manipulators, composed of a central base column and an arm system able to rotate around this column. The arm system includes several actuated upper arms, each connected to a manipulated platform by one or more lower arm linkages. Such manipulators feature an extensive positional workspace in relation to the manipulator footprint and equal manipulator properties in all radial half-planes defined by the common rotation-axis of the upper arms. The similarities between planar manipulators exclusively employing 2-degrees-of-freedom (2-DOF) lower arm linkages and lower mobility spatial manipulators only utilising 5-DOF lower arm linkages are analysed. The 2-DOF linkages are composed of a link with a 1-DOF hinge on both ends whilst the 5-DOF linkages utilise 3-DOF spherical joints and 2-DOF universal joints. By employing a proposed linkage substitution scheme, it is shown how a wide range of spatial axis-symmetric parallel manipulators can be derived from a limited range of planar manipulators of the same type.
Language eng
DOI 10.1016/j.mechmachtheory.2014.08.014
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2015, Elsevier
Persistent URL http://hdl.handle.net/10536/DRO/DU:30069054

Document type: Journal Article
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.