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Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators | IEEE Conference Publication | IEEE Xplore

Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators


Abstract:

Although parallel manipulators possess the benefits of high acceleration and accuracy, they typically suffer from a limited workspace to footprint ratio. This paper prese...Show More

Abstract:

Although parallel manipulators possess the benefits of high acceleration and accuracy, they typically suffer from a limited workspace to footprint ratio. This paper presents a workspace analysis of two recently proposed axis-symmetric parallel manipulators designed to overcome this problem. The studied manipulators are parametrized, their inverse kinematic models are derived and an in-depth singularity analysis is performed. Next, the architectural parameters are generated for one of the manipulators, using a meta-heuristic algorithm to produce the maximum singularity-free workspace. Thereafter, a second parameter calculation is performed to examine the relationship between maximizing the global conditioning index (GCI) and the resultant achievable workspace for the manipulators.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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