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On the feasibility of utilising gearing to extend the rotational workspace of a class of parallel robots

Version 2 2024-06-17, 13:45
Version 1 2015-04-16, 08:00
journal contribution
posted on 2024-06-17, 13:45 authored by M Isaksson, L Nyhof, S Nahavandi
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.

History

Journal

Robotics and Computer-Integrated Manufacturing

Volume

35

Pagination

126-136

ISSN

0736-5845

Language

eng

Publication classification

C Journal article, C1 Refereed article in a scholarly journal

Copyright notice

2015, Elsevier

Publisher

Elsevier Ltd