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A comparison of the yaw constraining performance of SCARA-tau parallel manipulator variants via screw theory

Isaksson, Mats, Marlow, Kristan, Brogårdh, Torgny and Eriksson, Anders 2016, A comparison of the yaw constraining performance of SCARA-tau parallel manipulator variants via screw theory, in ICRA 2016: Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, Piscataway, N.J., pp. 888-893, doi: 10.1109/ICRA.2016.7487219.

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Title A comparison of the yaw constraining performance of SCARA-tau parallel manipulator variants via screw theory
Author(s) Isaksson, Mats
Marlow, Kristan
Brogårdh, Torgny
Eriksson, Anders
Conference name IEEE Robotics and Automation. International Conference ( 2016: Stockholm, Sweden)
Conference location Stockholm, Sweden
Conference dates 16-21 May 2016
Title of proceedings ICRA 2016: Proceedings of the IEEE International Conference on Robotics and Automation
Publication date 2016
Start page 888
End page 893
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Summary The SCARA-Tau parallel manipulator was derived with the objective to overcome the limited workspace-to-footprint ratio of the DELTA parallel manipulator while maintaining its many benefits. The SCARA-Tau family has later been extended and a large number of variants have been proposed. In this paper, we analyse four of these variants, which together encompass the main differences between all the proposed SCARA-Tau manipulators. The analysed manipulator variants utilise an identical arrangement of five of the six linkages connecting the actuated arms and the manipulated platform and exhibit the same input-output Jacobian. The normalised reciprocal product between the wrench of the sixth linkage and the twist of the platform occurring without this linkage provides a measure on how effectively the sixth linkage constrains the manipulated platform. A comparison of the manipulator variants with respect to this measure demonstrates each variants suitability for specific applications.
ISBN 9781467380263
ISSN 1050-4729
Language eng
DOI 10.1109/ICRA.2016.7487219
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 ©2016, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30085022

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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