DocumentCode
414397
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
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
3671
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308829
Filename
1308829
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