Title :
Design, analysis and construction of a prototype parallel link manipulator
Author :
Arai, Tatsuo ; Cleary, Kevin ; Nakamura, Tatsuya ; Adachi, Hironori ; Homma, Keiko
Author_Institution :
Mech. Eng. Lab., Agency of Ind. Sci. & Technol., Ibaraki, Japan
Abstract :
The paper discusses characteristics mechanism analysis, a design method and an overview of a prototype parallel link manipulator. An evaluation criteria is introduced by analyzing the manipulator statics using the singular value decomposition to realize a well balanced parallel mechanism. Based on this criteria a new configuration is proposed and the basic characteristics of a prototype manipulator are discussed
Keywords :
control system analysis; control system synthesis; robots; control system synthesis; design; evaluation criteria; mechanism analysis; prototype parallel link manipulator; singular value decomposition; Controllability; Jacobian matrices; Kinematics; Laboratories; Manipulators; Mechanical engineering; Parallel robots; Prototypes; Service robots; Singular value decomposition;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262388
