Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators Marlow,K, Isaksson,M, Abdi,H and Nahavandi,S 2014, Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators, in IROS 2014 : Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Piscataway, N.J., pp. 1690-1696, doi: 10.1109/IROS.2014.6942782. Attached Files Name Description MIMEType Size Downloads Title Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators Author(s) Marlow,K Isaksson,M Abdi,H orcid.org/0000-0001-6597-7136 Nahavandi,S orcid.org/0000-0002-0360-5270 Conference name Intelligent Robots and Systems. Conference (2014: Chicago, Illinois) Conference location Chicago, Illinois Conference dates Sep. 14-18 2014 Title of proceedings IROS 2014 : Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems Editor(s) [Unknown] Publication date 2014 Conference series Intelligent Robots and Systems Conference Start page 1690 End page 1696 Total pages 7 Publisher IEEE Place of publication Piscataway, N.J. Summary Although parallel manipulators possess the benefits of high acceleration and accuracy, they typically suffer from a limited workspace to footprint ratio. This paper presents a workspace analysis of two recently proposed axis-symmetric parallel manipulators designed to overcome this problem. The studied manipulators are parametrized, their inverse kinematic models are derived and an in-depth singularity analysis is performed. Next, the architectural parameters are generated for one of the manipulators, using a meta-heuristic algorithm to produce the maximum singularity-free workspace. Thereafter, a second parameter calculation is performed to examine the relationship between maximizing the global conditioning index (GCI) and the resultant achievable workspace for the manipulators. ISBN 9781479969340 ISSN 2153-0858 2153-0866 Language eng DOI 10.1109/IROS.2014.6942782 Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics) Socio Economic Objective 970109 Expanding Knowledge in Engineering HERDC Research category E1 Full written paper - refereed ERA Research output type E Conference publication Copyright notice ©2014, IEEE Persistent URL http://hdl.handle.net/10536/DRO/DU:30069056 Document type: Conference Paper Collections: Institute for Intelligent Systems Research and Innovation (IISRI) GTP Research Related Links Link Description Connect to published version 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. Versions Version Filter Type Thu, 15 Jan 2015, 13:59:32 EST Fri, 16 Jan 2015, 04:02:22 EST Fri, 27 Mar 2015, 16:25:31 EST Sat, 28 Mar 2015, 05:07:06 EST Mon, 13 Apr 2015, 10:39:05 EST Mon, 13 Apr 2015, 10:39:52 EST Tue, 02 Jun 2015, 13:51:50 EST Wed, 14 Oct 2015, 14:10:33 EST Filtered Full Citation counts:   Cited 2 times in TR Web of Science Cited 2 times in Scopus Search Google Scholar Access Statistics: 529 Abstract Views, 3 File Downloads  -  Detailed Statistics Created: Fri, 27 Mar 2015, 16:25:31 EST

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