Title of article
Cheope: A new reconfigurable redundant manipulator
Author/Authors
D. Tosi، نويسنده , , G. Legnani، نويسنده , , N. Pedrocchi، نويسنده , , P. Righettini، نويسنده , , H. Giberti، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2010
Pages
16
From page
611
To page
626
Abstract
This work presents a new reconfigurable parallel-serial hybrid manipulator that can reach 7 degrees of freedom as a whole. The architecture of the parallel part is modular and it can be configured to obtain for the mobile base 3 or 4 degrees of freedom, or 3 degrees of freedom with redundant actuation. The paper presents the new parallel kinematic structure, analyzing the singularities, the workspace and the benefits of the redundant configuration. Finally, the first experimental results are presented.
Keywords
Redundant manipulator , Singularity , Reconfigurable manipulator , Workspace , Parallel manipulator
Journal title
Mechanism and Machine Theory
Serial Year
2010
Journal title
Mechanism and Machine Theory
Record number
1164261
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