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Workspace and sensitivity analysis of a novel nonredundant parallel SCARA robot featuring infinite tool rotation

Gosselin, Clément, Isaksson, Mats, Marlow, Kristan and Laliberte, Thierry 2016, Workspace and sensitivity analysis of a novel nonredundant parallel SCARA robot featuring infinite tool rotation, IEEE robotics and automation letters, vol. 1, no. 2, pp. 776-783, doi: 10.1109/LRA.2016.2527064.

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Title Workspace and sensitivity analysis of a novel nonredundant parallel SCARA robot featuring infinite tool rotation
Author(s) Gosselin, Clément
Isaksson, Mats
Marlow, Kristan
Laliberte, Thierry
Journal name IEEE robotics and automation letters
Volume number 1
Issue number 2
Start page 776
End page 783
Total pages 8
Publisher IEEE
Place of publication Piscataway, N.J.
Publication date 2016-07
ISSN 2377-3766
Summary As demonstrated by the exceptionally successful Delta robot, parallel kinematics Schönflies motion generators (PKSMG) exhibit several advantages over their serial counterparts. Despite its success, the Delta robot suffers from several shortcomings, including a bulky framework and a small workspace-to-footprint ratio. Another drawback is that the kinematic chain generating tool rotation suffers from low torsional stiffness. This letter presents a novel architecture for a nonredundant PKSMG providing infinite tool rotation and an extensive positioning workspace. The workspace and kinematic performance of the proposed architecture are analysed in detail.
Language eng
DOI 10.1109/LRA.2016.2527064
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
Copyright notice ©2016, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30084855

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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