Title :
A prototype parallel manipulator: kinematics, construction, software, workspace results, and singularity analysis
Author :
Cleary, Kevin ; Arai, Tatsuo
Author_Institution :
STX Robotics, Lanham, MD, USA
Abstract :
A prototype parallel link manipulator is described. The kinematics of a general parallel link manipulator are discussed. The hardware and software of the prototype manipulator are presented. Some symbolic kinematic results for the prototype are given, along with a discussion of how these results might be used. The workspace of the prototype is analyzed, both by simulation and experimentation. The singularity problem for parallel manipulators is discussed, and a singular configuration for the prototype is shown
Keywords :
control system analysis computing; digital simulation; kinematics; robots; kinematics; parallel link manipulator; prototype; robots; singularity analysis; Geometry; Hardware; Kinematics; Laboratories; Leg; Manipulators; Mechanical engineering; Parallel robots; Prototypes; Software prototyping;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131641
