Title :
Collision-Free Workspace Design of the 5-Axis Gantry-Tau Parallel Kinematic Machine
Author :
Murray, Matthew ; Hovland, Geir ; Brogardh, Torgny
Author_Institution :
ITEE, Queensland Univ., Brisbane, Qld.
Abstract :
This paper describes the workspace of the 5-axis variant of the Gantry-Tau parallel manipulator. The 5-axis movements are achieved by extending the 3-axis Gantry-Tau with two linear telescope link actuators. A new analytic inverse kinematic solution for the 5-axis machine and an analysis of the collision-free zones of the machine are presented. The results show that by careful design of the manipulated platform, a collision-free 5-axis workspace can be achieved. The achievable re-orientation of 30 degrees in the entire workspace is large for a parallel kinematic machine
Keywords :
actuators; manipulator kinematics; 5-axis Gantry-Tau parallel kinematic machine; Gantry-Tau parallel manipulator; analytic inverse kinematic solution; collision-free workspace design; linear telescope link actuators; manipulated platform; Australia; Hydraulic actuators; Inorganic materials; Intelligent robots; Machining; Manipulators; Milling; Robot kinematics; Telescopes; Wrist;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282497