DocumentCode
1586536
Title
The mechanical efficiency and kinematics of pantograph type manipulators
Author
Song, S.-M. ; Lee, Jong-Kil
Author_Institution
Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
fYear
1988
Firstpage
414
Abstract
The mechanical efficiency of pantograph mechanisms is studied using the concept of redefined geometric work, and is compared with a conventional open-chain and a closed-chain type manipulator. The kinematics of two types of six-degree-of-freedom pantograph manipulators are studied. Special mechanisms which simplify the kinematics are discussed. The computational complexity of both Cartesian and cylindrical pantograph manipulators are evaluated and compared with a PUMA-type manipulator
Keywords
computational complexity; kinematics; robots; Cartesian manipulators; PUMA-type manipulator; computational complexity; cylindrical manipulators; kinematics; mechanical efficiency; redefined geometric work; robots; six-degree-of-freedom pantograph manipulators; Electronic switching systems; Energy efficiency; Joining processes; Kinematics; Legged locomotion; Manipulators; Mechanical engineering; Payloads; Robots; Scattering;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12083
Filename
12083
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