DocumentCode
1251029
Title
Kinematic analysis of a three-degrees-of-freedom in-parallel actuated manipulator
Author
Lee, Kok-Meng ; Shah, Dharman K.
Author_Institution
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Altanta, GA, USA
Volume
4
Issue
3
fYear
1988
fDate
6/1/1988 12:00:00 AM
Firstpage
354
Lastpage
360
Abstract
An alternative design of a three-degrees-of-freedom manipulator based on the concept of an in-parallel actuated mechanism is presented. The manipulator has two degrees of orientation freedom and one degree of translatory freedom. The basic kinematic equations for use of the manipulator are derived and the influences of the physical constraints on the range of motion in the practical design are discussed. Several possible applications which include the in-parallel mechanism as part of the manipulation system are suggested
Keywords
control system analysis; control system synthesis; kinematics; robots; concept; control system synthesis; design; in-parallel actuated manipulator; kinematic; robots; Actuators; Computer integrated manufacturing; Equations; Fixtures; Kinematics; Manipulator dynamics; Orbital robotics; Robotic assembly; Robotics and automation; Service robots;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.796
Filename
796
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