4R spatial and 5R parallel manipulators that can reach maximum number of isotropic positions

被引：8
作者：
Tsai, K. Y. [1 ]
Lin, P. Y. [1 ]
Lee, T. K. [1 ]
机构：
[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei 10672, Taiwan
来源：
MECHANISM AND MACHINE THEORY | 2008年 / 43卷 / 01期
关键词：
manipulator; maximum isotropic positions; parallel; serial; dexterity;
D O I：
10.1016/j.mechmachtheory.2006.12.014
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Methods for developing manipulators to reach maximum number of isotropic positions are presented in this paper. The spatial 4R manipulators are directly obtained from 3R planar manipulators, and the 2-DOF 5R planar parallel manipulators are developed from four-bar mechanisms. In addition, a general method is proposed for developing other types of manipulators. Criteria for determining the number of solutions of nth degree polynomials are presented to facilitate the searching process. (C) 2007 Elsevier Ltd. All rights reserved.
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页码：68 / 79
页数：12
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