DocumentCode
2057774
Title
Determination of the carriage stroke of 6-PSS parallel manipulators having the specific orientation capability in a prescribed workspace
Author
Huang, T. ; Jiang, B. ; Whitehous, David J.
Author_Institution
Sch. of Mech. Eng., Tianjin Univ., China
Volume
3
fYear
2000
fDate
2000
Firstpage
2382
Abstract
In this paper, an effective approach to determine the carriage stroke of 6-PSS parallel manipulator is presented. The analytical expression of the position workspace boundary is formulated using differential geometry. This allows the closed form solution to the carriage stroke necessary to generate a cylindrical prescribed workspace to be determined
Keywords
control system synthesis; differential geometry; manipulator kinematics; position control; set theory; 6-PSS parallel manipulators; carriage stroke; cylindrical prescribed workspace; differential geometry; kinematics; orientation; set theory; workspace boundary; Assembly; Closed-form solution; Fasteners; Geometry; Kinematics; Machine tools; Manipulators; Milling; Servomechanisms; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846383
Filename
846383
Link To Document