Title :
Determination of the carriage stroke of 6-PSS parallel manipulators having the specific orientation capability in a prescribed workspace
Author :
Huang, T. ; Jiang, B. ; Whitehous, David J.
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ., China
Abstract :
In this paper, an effective approach to determine the carriage stroke of 6-PSS parallel manipulator is presented. The analytical expression of the position workspace boundary is formulated using differential geometry. This allows the closed form solution to the carriage stroke necessary to generate a cylindrical prescribed workspace to be determined
Keywords :
control system synthesis; differential geometry; manipulator kinematics; position control; set theory; 6-PSS parallel manipulators; carriage stroke; cylindrical prescribed workspace; differential geometry; kinematics; orientation; set theory; workspace boundary; Assembly; Closed-form solution; Fasteners; Geometry; Kinematics; Machine tools; Manipulators; Milling; Servomechanisms; Wrist;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846383
