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
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;
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
DOI :
10.1109/ICMA.2006.257469
