ASYMMETRIC RECONFIGURATION OF A 3-DOF PARALLEL MANIPULATOR

被引：0
|
作者：
Balmaceda-Santamaria, A. L. [1 ]
Chavez-Toruno, A. E. [2 ]
机构：
[1] Univ Nacl Ingn, Inst Estudios Super, Fac Tecnol Ind, Managua, Nicaragua
[2] Univ Nacl Ingn, Fac Ciencias & Sistemas, Dept Informat, Managua, Nicaragua
来源：
NEXO REVISTA CIENTIFICA | 2020年 / 33卷 / 01期
关键词：
Parallel manipulator; Performance index; Reconfigurable robot; Screw theory; Workspace; DESIGN; REDUNDANCY;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper an asymmetric reconfigurable parallel manipulator is presented. Asymmetric configurations are obtained by modifying the angle between each of the kinematic chains. Thanks to the reconfiguration proposal significant improvement of the manipulator performance can be obtained with respect to a Delta-type parallel robot. The computation of the best condition number is obtained, the results show that by using the redundancy, all the performance indices that depend on the Jacobian matrix can be improved as well.
引用
收藏
页码：137 / 147
页数：11
相关论文
共 50 条
  • [31] Kinematics and dexterity analysis for a novel 3-DOF translational parallel manipulator
    Li, YM
    Xu, QS
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 2944 - 2949
  • [32] Kinematic Analysis of 3-DoF Perpendicular Parallel Manipulator with Flexure Hinge
    Zhu Dachang
    Feng Yanping
    Cai Jinbao
    Xiao Guifang
    THIRD INTERNATIONAL CONFERENCE ON KNOWLEDGE DISCOVERY AND DATA MINING: WKDD 2010, PROCEEDINGS, 2010, : 363 - 366
  • [33] Reciprocal screw theory based singularity analysis of a novel 3-DOF parallel manipulator
    Hairong Fang
    Yuefa Fang
    Ketao Zhang
    Chinese Journal of Mechanical Engineering, 2012, 25 : 647 - 653
  • [34] Reciprocal Screw Theory Based Singularity Analysis of a Novel 3-DOF Parallel Manipulator
    Fang Hairong
    Fang Yuefa
    Zhang Ketao
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2012, 25 (04) : 647 - 653
  • [35] Kinematic analysis and design of a new 3-DOF translational parallel manipulator
    Li, Yangmin
    Xu, Qingsong
    JOURNAL OF MECHANICAL DESIGN, 2006, 128 (04) : 729 - 737
  • [36] Dimensional Synthesis of a 3-DOF Parallel Manipulator with Full Circle Rotation
    Ni Yanbing
    Wu Nan
    Zhong Xueyong
    Zhang Biao
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2015, 28 (04) : 830 - 840
  • [37] Design and analysis of a totally decoupled 3-DOF spherical parallel manipulator
    Zhang, Dan
    Zhang, Fan
    ROBOTICA, 2011, 29 : 1093 - 1100
  • [38] Dimensional synthesis of a 3-DOF parallel manipulator with full circle rotation
    Yanbing Ni
    Nan Wu
    Xueyong Zhong
    Biao Zhang
    Chinese Journal of Mechanical Engineering, 2015, 28 : 830 - 840
  • [39] Development of a new 3-DOF parallel manipulator for minimally invasive surgery
    Khalifa, Alaa
    Fanni, Mohamed
    Mohamed, Abdelfatah M.
    Miyashita, Tomoyuki
    INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2018, 14 (03)
  • [40] Dimensional Synthesis of a 3-DOF Parallel Manipulator with Full Circle Rotation
    NI Yanbing
    WU Nan
    ZHONG Xueyong
    ZHANG Biao
    Chinese Journal of Mechanical Engineering, 2015, (04) : 830 - 840
12345