DocumentCode
1959948
Title
A new 3-DOF parallel manipulator
Author
Petko, M. ; Karpiel, G. ; Prusak, D. ; Martowicz, A.
Author_Institution
Dept. of Robotics & Machine Dynamics, AGH Univ. of Sci. & Technol., Krakow, Poland
fYear
2004
fDate
17-20 June 2004
Firstpage
127
Lastpage
132
Abstract
The paper presents a novel, versatile 3-RRP_RR (revolute-revolute-prismatic-revolute-revolute joints), fully-parallel manipulator with three translational degrees of freedom for pick-and-place and machining applications, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, its kinematics and dynamics is analysed and modelled. A trajectory generator and a controller are proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.
Keywords
manipulator dynamics; manipulator kinematics; position control; 3-DOF parallel manipulator; high attainable acceleration; high payload capacity; machining application; pick-and-place application; revolute-revolute-prismatic-revolute-revolute joint; trajectory generator; versatile 3-RRP_RR; Acceleration; Actuators; End effectors; Frequency; Kinematics; Machining; Manipulator dynamics; Parallel robots; Payloads; Throughput;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN
83-7143-272-0
Type
conf
DOI
10.1109/ROMOCO.2004.240571
Filename
1359496
Link To Document