A comparison of the yaw constraining performance of SCARA-tau parallel manipulator variants via screw theory
Data(s) |
01/01/2016
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Resumo |
The SCARA-Tau parallel manipulator was derived with the objective to overcome the limited workspace-to-footprint ratio of the DELTA parallel manipulator while maintaining its many benefits. The SCARA-Tau family has later been extended and a large number of variants have been proposed. In this paper, we analyse four of these variants, which together encompass the main differences between all the proposed SCARA-Tau manipulators. The analysed manipulator variants utilise an identical arrangement of five of the six linkages connecting the actuated arms and the manipulated platform and exhibit the same input-output Jacobian. The normalised reciprocal product between the wrench of the sixth linkage and the twist of the platform occurring without this linkage provides a measure on how effectively the sixth linkage constrains the manipulated platform. A comparison of the manipulator variants with respect to this measure demonstrates each variants suitability for specific applications. |
Identificador | |
Idioma(s) |
eng |
Publicador |
IEEE |
Relação |
http://dro.deakin.edu.au/eserv/DU:30085022/marlow-comparisonyaw-2016.pdf http://dro.deakin.edu.au/eserv/DU:30085022/marlow-comparisonyaw-evid1-2016.pdf http://dro.deakin.edu.au/eserv/DU:30085022/marlow-comparisonyaw-evid2-2016.pdf http://www.dx.doi.org/10.1109/ICRA.2016.7487219 |
Direitos |
2016, IEEE |
Tipo |
Conference Paper |