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Design, kinematic and dynamic modeling of a novel tripod based manipulator

Published online by Cambridge University Press:  23 December 2014

Dan Zhang  and
Bin Wei
Dan Zhang*
Affiliation:
University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, Ontario, L1H 7K4, Canada
Bin Wei
Affiliation:
University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, Ontario, L1H 7K4, Canada
*
*Corresponding author. E-mail: Dan.Zhang@uoit.ca
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Summary

This paper proposes a novel three-degrees-of-freedom (3-DOF) hybrid manipulator, 3PU*S-PU, which evolves from the general function (Gf) set theory. After discussing the advantages of this new type of hybrid manipulator, this report analyzes the kinematic and Jacobian matrix of the manipulator. Subsequently, the kinematic performances, including stiffness/compliance, and workspace, undergo analysis, followed by the multi-objective optimization of the compliance and workspace. The Lagrangian method provides the framework for briefly analyzing the dynamics of the proposed manipulator. Finally, the results of this assessment comprise a guideline for controlling the manipulator.

Keywords

Gf setType synthesisTripodComplianceMulti-objective optimizationHybrid manipulator
Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016 , pp. 2186 - 2204
Copyright
Copyright © Cambridge University Press 2014 

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