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
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;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12083
