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
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;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240571
