Title :
The atlas of the payload capability for design of 2-DOF planar parallel manipulators
Author :
Ozaki, Hiroaki ; Wang, Hongrui ; Liu, Xinjun ; Gao, Feng
Author_Institution :
Fac. of Eng., Fukuoka Univ., Japan
Abstract :
This research utilizes a physical model of the solution space to investigate the relationships between the global payload index (GPI) and link lengths of 2-DOF parallel planar manipulators (PPMs). Equations for the GPI are derived and used to generate contours on the model of the solution space. The atlas is useful for the analysis and design of 2-DOF PPMs
Keywords :
control system synthesis; manipulators; multidimensional systems; performance index; 2-DOF planar parallel manipulators; design; global payload index; link lengths; payload capability; physical model; Bars; Design engineering; Equations; H infinity control; Jacobian matrices; Kinematics; Manipulators; Orbital robotics; Parallel robots; Payloads;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.571364
