DocumentCode
2864237
Title
Analysis of the Workspace of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy
Author
Zhang, Li-Jie ; Niu, Yue-Wei ; Huang, Zhen
Author_Institution
Sch. of Mech. Eng., Yanshan Univ., Hebei
fYear
2006
fDate
25-28 June 2006
Firstpage
153
Lastpage
158
Abstract
The physical model of spherical 2-DOF parallel manipulator with actuation redundancy has been established. According to its constraint conditions and geometric parameters, the reachable workspace of this manipulator has been studied in detail by using geometric methodology. The shapes of the reachable workspace have been expressed on the plane by using conformal transformation. These results are very useful for designers to understand and grasp the performances of this manipulator´s workspace
Keywords
geometry; manipulators; actuation redundancy; conformal transformation; geometric methodology; spherical 2-DOF parallel manipulator; Actuators; Automation; Design optimization; Kinematics; Manipulators; Mechanical engineering; Mechatronics; Payloads; Robots; Shape; 2-DOF; actuation redundancy; reachable workspace; spherical manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location
Luoyang, Henan
Print_ISBN
1-4244-0465-7
Electronic_ISBN
1-4244-0466-5
Type
conf
DOI
10.1109/ICMA.2006.257469
Filename
4026072
Link To Document