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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.

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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
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? No
Free to Read Start Date 2017-11-01
Persistent URL http://hdl.handle.net/10536/DRO/DU:30072344

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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Created: Thu, 16 Apr 2015, 08:03:50 EST

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