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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Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators
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.
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