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

conference contribution
posted on 2016-01-01, 00:00 authored by M Isaksson, Kristan Michael Marlow, T Brogårdh, A Eriksson
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.

History

Event

ICRA Robotics and Automation. International Conference ( 2016: Stockholm, Sweden)

Pagination

888 - 893

Publisher

IEEE

Location

Stockholm, Sweden

Place of publication

Piscataway, N.J.

Start date

2016-05-16

End date

2016-05-21

ISSN

1050-4729

ISBN-13

9781467380263

Language

eng

Publication classification

E Conference publication; E1 Full written paper - refereed

Copyright notice

2016, IEEE

Title of proceedings

ICRA 2016: Proceedings of the IEEE International Conference on Robotics and Automation

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