Author:
Altuzarra O.,Şandru B.,Pinto Ch.,Petuya V.
Abstract
SUMMARYThis paper presents a new symmetric parallel Schönflies-motion generator. The design is an evolution of a previous robot with linear inputs. The complete kinematic analysis of the 4-degree-of-freedom (dof) parallel manipulator is presented. The degrees of freedom are obtained from the Group Theory, the direct and inverse position problems are solved obtaining the manipulator's workspace, and the Jacobian analysis is presented. Then the isotropic configurations of the manipulator are discussed and the local dexterity map within the workspace is produced. Finally, two alternatives of a rotational mechanical device, which will increase the angular end-effector range, are proposed.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
32 articles.
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