DocumentCode
2330144
Title
Mobility and position analyses of a novel redundant parallel manipulator
Author
Zanganeh, Kourosh E. ; Angeles, Jorge
Author_Institution
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
fYear
1994
fDate
8-13 May 1994
Firstpage
3049
Abstract
Presented in this paper is a new platform-type manipulator that is parallel and kinematically redundant. The use of redundancy not only increases the workspace, but also helps in coping with singularities and improves dexterity. A complete kinematic model of the structure is presented in this paper, that is used for its mobility, and its direct and inverse position analyses
Keywords
kinematics; redundancy; robots; dexterity; inverse position analysis; kinematic redundancy; mobility analyses; platform-type manipulator; redundant parallel manipulator; singularities; Actuators; Fingers; Kinematics; Leg; Manipulators; Mechanical engineering; Motion control; Orbital robotics; Robustness; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351101
Filename
351101
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