Novel 6-DOF parallel manipulator with large workspace-Reference-Cited by-同舟云学术

Novel 6-DOF parallel manipulator with large workspace

Published:2009-03-25 Issue:6 Volume:27 Page:891-895
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Glozman Daniel,Shoham Moshe

Abstract

SUMMARYThe workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of the robot itself—which is not common in parallel robots. The inverse and forward kinematics of the robots are presented. The workspaces of the robots are compared to similar and well-known structures, such as Eclipse, Alizade, Delta, and Hexa robots.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference18 articles.

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2. 7. Simaan N. , Glozman D. and Shoham M. , “Design Con-siderations of new types of Six-Degrees-of-Freedom Parallel Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Belgium, Vol. 2 (1998) pp. 1327–1333.

3. A forward and reverse displacement analysis of a 6-DOF in-parallel manipulator

4. Determination of the Workspace of 6-DOF Parallel Manipulators

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