Title :
A novel composition of 2 parallel robots for 6DOF workspace
Author :
Yang, Yawei ; O´Brien, John F.
Author_Institution :
D. & E. Dept., ASML US Inc., CT, USA
Abstract :
In this paper, a novel composite 6-DOF parallel robot is introduced. Two independent components are included in this new mechanism. One is a planar 3-RPR mechanism, the other is a spatial 3-UPS-l-PU mechanism. The planar mechanism provides translations along the x and y axes and rotation around the z axis. As a complement, the 3-UPS-l-PU mechanism provides translation along the z axis and rotations around the x and y axis. These two mechanisms are combined using a serial connection. Different combinations of these two mechanism are proposed in this paper.
Keywords :
redundant manipulators; 6-DOF parallel robot; Proceedings; planar 3-RPR mechanism; redundant parallel manipulator; serial connection; spatial 3-UPS-l-PU mechanism; x axis; y axis; z axis;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980597
