File(s) under permanent embargo
On the feasibility of utilising gearing to extend the rotational workspace of a class of parallel robots
journal contribution
posted on 2015-10-01, 00:00 authored by Mats Isaksson, Luke Nyhof, Saeid NahavandiParallel 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 ManufacturingVolume
35Pagination
126 - 136Publisher
Elsevier LtdPublisher DOI
ISSN
0736-5845Language
engPublication classification
C Journal article; C1 Refereed article in a scholarly journalCopyright notice
2015, ElsevierUsage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC