A method for extending planar axis-symmetric parallel manipulators to spatial mechanisms
Data(s) |
01/01/2015
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Resumo |
This paper investigates axis-symmetric parallel manipulators, composed of a central base column and an arm system able to rotate around this column. The arm system includes several actuated upper arms, each connected to a manipulated platform by one or more lower arm linkages. Such manipulators feature an extensive positional workspace in relation to the manipulator footprint and equal manipulator properties in all radial half-planes defined by the common rotation-axis of the upper arms. The similarities between planar manipulators exclusively employing 2-degrees-of-freedom (2-DOF) lower arm linkages and lower mobility spatial manipulators only utilising 5-DOF lower arm linkages are analysed. The 2-DOF linkages are composed of a link with a 1-DOF hinge on both ends whilst the 5-DOF linkages utilise 3-DOF spherical joints and 2-DOF universal joints. By employing a proposed linkage substitution scheme, it is shown how a wide range of spatial axis-symmetric parallel manipulators can be derived from a limited range of planar manipulators of the same type. |
Identificador | |
Idioma(s) |
eng |
Publicador |
Elsevier |
Relação |
http://dro.deakin.edu.au/eserv/DU:30069054/isaksson-amethodfor-post-2005.pdf http://dro.deakin.edu.au/eserv/DU:30069054/isaksson-methodforextending-2015.pdf http://www.dx.doi.org/10.1016/j.mechmachtheory.2014.08.014 |
Direitos |
2015, Elsevier |
Palavras-Chave | #Axis-symmetric #Linkage substitution #Parallel manipulator #Planar manipulator #Reciprocal screws #Rotation-symmetric #Science & Technology #Technology #Engineering, Mechanical #Engineering #ROBOT |
Tipo |
Journal Article |