Parallel manipulators with a rotation-symmetric arm system

Isaksson, Mats, Brogardh, Torgny and Nahavandi, Saeid 2012, Parallel manipulators with a rotation-symmetric arm system, Journal of mechanical design, vol. 134, no. 11, pp. 1-6.

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Title Parallel manipulators with a rotation-symmetric arm system
Author(s) Isaksson, Mats
Brogardh, Torgny
Nahavandi, SaeidORCID iD for Nahavandi, Saeid
Journal name Journal of mechanical design
Volume number 134
Issue number 11
Start page 1
End page 6
Total pages 6
Publisher American Society of Mechanical Engineers
Place of publication Fairfield, N. J.
Publication date 2012-11
ISSN 1050-0472
Keyword(s) ARM systems
base columns
eigen frequencies
high acceleration
high-accuracy positioning
large workspace
lower arm
parallel manipulators
parallel robots
Summary Parallel manipulators with a rotation-symmetric arm system possess all the typical advantages of parallel robots, such as high acceleration and high-accuracy positioning. Contrary to the majority of proposed parallel manipulators, the rotation-symmetric arm system leads to a large workspace in relation to the footprint of the manipulator. This paper focuses on a subclass of these manipulators with additional favorable qualities, including low inertia and high eigenfrequencies. These qualities are achieved using only 5-DOF lower arm links and by mounting all actuators on the nonmoving base column of the manipulator. The common feature of all previously proposed manipulators in this subclass is identified and several novel 3-DOF and 4-DOF members are introduced.
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
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Created: Thu, 29 Nov 2012, 08:13:19 EST

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