Title :
A rotary parallel manipulator: modeling and workspace analysis
Author :
Janabi-Sharifi, F. ; Shchokin, B.
Author_Institution :
Dept. of Mech. & Ind. Eng., Ryerson Univ., Toronto, Ont., Canada
fDate :
April 26-May 1, 2004
Abstract :
In this paper, a class of parallel manipulators known as Rotary Positioners (RP) will be analyzed. A Rotary Positioner is actuated by six circular motors on the circular base and does not involve any prismatic joint. Therefore, it has constant length limbs. A model of an RP is presented. The constraints related to passive joints and links interference are formulated and the workspace of a normalized RP is computed accordingly. The optimal combination of the main parameters for maximizing the workspace volume of the RP is also given.
Keywords :
electromagnetic actuators; manipulator kinematics; servomotors; circular motors; electromagnetic actuators; modeling; passive joints interference; passive links interference; rotary parallel manipulator; rotary positioners; workspace analysis; Actuators; Arm; Commercialization; Industrial engineering; Interference constraints; Kinematics; Manipulators; Robotics and automation; Service robots; Servomotors;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308829
