DocumentCode
2690281
Title
A family of planar parallel manipulators
Author
Isaksson, Mats
Author_Institution
Centre for Intell. Syst. Res. (CISR), Deakin Univ., Geelong, VIC, Australia
fYear
2011
fDate
9-13 May 2011
Firstpage
2737
Lastpage
2744
Abstract
A family of planar parallel manipulators is investigated and some novel members are proposed. The common feature of the studied manipulators is that the rotation axes of the actuated arms coincide. This feature makes it possible to rotate the whole arm system an infinite number of revolutions around the center of the manipulator. The result is a large workspace in relation to the footprint. Both 2- and 3-DOF variants are presented and the suitability of this family of manipulators for kinematic analysis is demonstrated. Thus, different methods to find optimal manipulability with respect to platform positioning and rotation have been analyzed.
Keywords
manipulator kinematics; kinematic analysis; optimal manipulability; planar parallel manipulators; platform positioning; platform rotation; rotation axes; Actuators; Equations; Jacobian matrices; Joints; Kinematics; Manipulators;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5979734
Filename
5979734
Link To Document