On the feasibility of utilising gearing to extend the rotational workspace of a class of parallel robots Isaksson, Mats, Nyhof, Luke and Nahavandi, Saeid 2015, On the feasibility of utilising gearing to extend the rotational workspace of a class of parallel robots, Robotics and computer-integrated manufacturing, vol. 35, pp. 126-136, doi: 10.1016/j.rcim.2015.03.004. Attached Files Name Description MIMEType Size Downloads isaksson-onthefeasibility-post-2015.pdf Accepted version application/pdf 4.83MB 42 Title On the feasibility of utilising gearing to extend the rotational workspace of a class of parallel robots Author(s) Isaksson, Mats Nyhof, Luke Nahavandi, Saeid orcid.org/0000-0002-0360-5270 Journal name Robotics and computer-integrated manufacturing Volume number 35 Start page 126 End page 136 Total pages 11 Publisher Elsevier Place of publication Amsterdam, The Netherlands Publication date 2015-10 ISSN 0736-5845 Keyword(s) Four bar linkage Gearing Parallel manipulator Rotational workspace Summary Parallel manipulators provide several benefits compared to serial manipulators of similar size. These advantages typically include higher speed and acceleration, improved position accuracy and increased stiffness. However, parallel manipulators also suffer from several disadvantages. These drawbacks commonly include a small ratio of the positional workspace relative to the manipulator footprint and a limited rotational capability of the manipulated platform. A few parallel manipulators featuring a large ratio of the positional workspace relative to the footprint have been proposed. This paper investigates the feasibility of employing gearing to extend the range of the end-effector rotation of such mechanisms. The objective is to achieve parallel manipulators where both the positional and rotational workspace are comparable to that of serial manipulators. Language eng DOI 10.1016/j.rcim.2015.03.004 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 HERDC collection year 2014 Copyright notice ©2015, Elsevier Free to Read? Yes Free to Read Start Date 2017-11-01 Persistent URL http://hdl.handle.net/10536/DRO/DU:30072344 Document type: Journal Article Collections: Institute for Intelligent Systems Research and Innovation (IISRI) Open Access Collection 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. 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. Versions Version Filter Type Thu, 16 Apr 2015, 08:00:52 EST Thu, 16 Apr 2015, 08:02:19 EST Thu, 16 Apr 2015, 08:03:14 EST Thu, 16 Apr 2015, 08:03:50 EST Thu, 16 Apr 2015, 16:26:55 EST Thu, 16 Apr 2015, 16:36:33 EST Wed, 22 Apr 2015, 06:13:54 EST Fri, 24 Apr 2015, 09:58:29 EST Fri, 24 Apr 2015, 09:59:14 EST Wed, 29 Apr 2015, 11:28:42 EST Fri, 15 May 2015, 09:20:11 EST Fri, 09 Oct 2015, 13:17:10 EST Fri, 09 Oct 2015, 13:20:29 EST Wed, 14 Oct 2015, 14:22:14 EST Wed, 21 Dec 2016, 10:11:48 EST Wed, 21 Dec 2016, 10:13:00 EST Fri, 24 Feb 2017, 10:54:15 EST Fri, 24 Feb 2017, 10:56:23 EST Fri, 24 Feb 2017, 10:57:39 EST Fri, 24 Feb 2017, 10:59:45 EST Fri, 21 Apr 2017, 07:07:37 EST Tue, 01 May 2018, 10:56:48 EST Fri, 07 Sep 2018, 18:23:32 EST Filtered Full Citation counts:   Cited 6 times in TR Web of Science Cited 6 times in Scopus Search Google Scholar Access Statistics: 529 Abstract Views, 55 File Downloads  -  Detailed Statistics Created: Thu, 16 Apr 2015, 08:03:50 EST

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