Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators
Contribuinte(s) |
[Unknown] |
---|---|
Data(s) |
01/01/2014
|
Resumo |
Although parallel manipulators possess the benefits of high acceleration and accuracy, they typically suffer from a limited workspace to footprint ratio. This paper presents a workspace analysis of two recently proposed axis-symmetric parallel manipulators designed to overcome this problem. The studied manipulators are parametrized, their inverse kinematic models are derived and an in-depth singularity analysis is performed. Next, the architectural parameters are generated for one of the manipulators, using a meta-heuristic algorithm to produce the maximum singularity-free workspace. Thereafter, a second parameter calculation is performed to examine the relationship between maximizing the global conditioning index (GCI) and the resultant achievable workspace for the manipulators. |
Identificador | |
Idioma(s) |
eng |
Publicador |
IEEE |
Relação |
http://dro.deakin.edu.au/eserv/DU:30069056/marlow-workspaceanalysis-2014.pdf http://dro.deakin.edu.au/eserv/DU:30069056/marlow-workspaceanalysis-evid-2014.pdf http://www.dx.doi.org/10.1109/IROS.2014.6942782 |
Direitos |
2014, IEEE |
Tipo |
Conference Paper |