Novel 6-DOF parallel manipulator with large workspace

被引：35
作者：
Glozman, Daniel [1 ]
Shoham, Moshe [1 ]
机构：
[1] Technion Israel Inst Technol, Dept Mech Engn, Robot Lab, IL-32000 Haifa, Israel
来源：
ROBOTICA | 2009年 / 27卷
关键词：
Parallel manipulator; Workspace; RRRS; RRSR;
D O I：
10.1017/S0263574708005286
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace-larger than the size of the robot itself-which is not common in parallel robots. The inverse and forward kinematics of the robots are presented. The workspaces of the robots are compared to similar and well-known structures, such as Eclipse, Alizade, Delta, and Hexa robots.
引用
收藏
页码：891 / 895
页数：5
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