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Manipulability analysis of gantry-tau parallel manipulator

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Version 2 2024-06-06, 10:34
Version 1 2020-06-12, 15:39
conference contribution
posted on 2024-06-06, 10:34 authored by S Pedrammehr, MRC Qazani, Houshyar AsadiHoushyar Asadi, S Nahavandi
Gantry-Tau is a type of parallel manipulators with three linear actuators. Manipulability is one of the challenges in Gantry-Tau manipulators. In this research, the kinematics of a Gantry-Tau manipulator is presented. The manipulability of the mechanism in orienting and positioning of the platform is addressed. The manipulating ability of manipulator is developed and formulated considering the manipulator large workspace using its kinematics and manipulability index relations. The results of manipulability simulation are also illustrated.

History

Volume

2019-December

Pagination

1-7

Location

Adelaide, S.Aust.

Open access

  • Yes

Start date

2019-12-09

End date

2019-12-11

ISSN

1448-2053

Language

eng

Publication classification

E1 Full written paper - refereed

Editor/Contributor(s)

Unknown

Title of proceedings

ACRA 2019 : Proceedings of the Australasian Conference on Robotics and Automation

Event

Robotics and automation. Australasian conference (2019 : Adelaide, S.Aust.)

Publisher

[Australian Robotics & Automation Association]

Place of publication

[Adelaide, S.Aust.]

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