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.

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Title Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators
Author(s) Marlow,K
Isaksson,M
Abdi,HORCID iD for Abdi,H orcid.org/0000-0001-6597-7136
Nahavandi,SORCID iD for 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

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