Maximization of Workspace Volume of 3-DOF Spatial Parallel Manipulators-Reference-Cited by-同舟云学术

Maximization of Workspace Volume of 3-DOF Spatial Parallel Manipulators

Published:2002-05-16 Issue:2 Volume:124 Page:347-350
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Miller Karol¹

Affiliation:

1. Department of Mechanical and Materials Engineering, The University of Western Australia, Crawley/Perth WA 6009, Australia

Abstract

In this work we investigate the influence of motor axes orientation on the workspace volume of 3-DOF manipulators, showing that the Delta configuration is not optimal. The configuration characterized by α=ArcTan1/2≈35.26°—the inclination of each motor axis to the horizontal plane (for the Delta robot α=0°), and β=60°—the rotation of each motor with respect to the vertical axis (for the Delta robot β=0°), known as the New University of Western Australia Robot (NUWAR) is shown to be advantageous over the Delta configuration in terms of workspace volume and shape. These results led to the construction of a prototype and an Australian Patent application.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/124/2/347/5797422/347_1.pdf

Reference16 articles.

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3. Clavel, R., 1988, “Delta, a Fast Robot With Parallel Geometry,” Proc. of 18th International Symposium on Industrial Robots, Lausanne, Switzerland, pp. 91–100.

4. Badano, F., Betempts, M., Burckhardt, C. W., Clavel, R., and Jutard, A., 1993, “Assembly of Chamferless Parts using a Fast Robot,” Proc. of 24th International Symposium on Industrial Robots, Tokyo, pp. 89–96.

5. Herve, J. M., 1994, “Methodological Design of New Parallel Robots via the Lie Group of Displacements,” Proc. of CISM/IFToMM ConferenceRo.Man.Sy. ’94, Gdansk, pp. 301–306.

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