Title :
Mobility and position analyses of a novel redundant parallel manipulator
Author :
Zanganeh, Kourosh E. ; Angeles, Jorge
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
Abstract :
Presented in this paper is a new platform-type manipulator that is parallel and kinematically redundant. The use of redundancy not only increases the workspace, but also helps in coping with singularities and improves dexterity. A complete kinematic model of the structure is presented in this paper, that is used for its mobility, and its direct and inverse position analyses
Keywords :
kinematics; redundancy; robots; dexterity; inverse position analysis; kinematic redundancy; mobility analyses; platform-type manipulator; redundant parallel manipulator; singularities; Actuators; Fingers; Kinematics; Leg; Manipulators; Mechanical engineering; Motion control; Orbital robotics; Robustness; Wrist;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351101
